Abstract
Trans-radial prosthesis is a wearable device that intends to help amputees under the elbow to replace the function of the missing anatomical segment that resembles an actual human hand. However, there are some challenging aspects faced mainly on the robot hand structural design itself. Improvements are needed as this is closely related to structure efficiency. This paper proposes a robot hand structure with improved features (four-bar linkage mechanism) to overcome the deficiency of using the cable-driven actuated mechanism that leads to less structure durability and inaccurate motion range. Our proposed robot hand structure also took into account the existing design problems such as bulky structure, unindividual actuated finger, incomplete fingers and a lack of finger joints compared to the actual finger in its design. This paper presents the improvements achieved by applying the proposed design such as the use of a four-bar linkage mechanism instead of using the cable-driven mechanism, the size of an average human hand, five-fingers with completed joints where each finger is moved by motor individually, joint protection using a mechanical stopper, detachable finger structure from the palm frame, a structure that has sufficient durability for everyday use and an easy to fabricate structure using 3D printing technology. The four-bar linkage mechanism is the use of the solid linkage that connects the actuator with the structure to allow the structure to move. The durability was investigated using static analysis simulation. The structural details and simulation results were validated through motion capture analysis and load test. The motion analyses towards the 3D printed robot structure show 70–98% similar motion range capability to the designed structure in the CAD software, and it can withstand up to 1.6 kg load in the simulation and the real test. The improved robot hand structure with optimum durability for prosthetic uses was successfully developed.
Highlights
Malaysia is a developing country with about 32.6 million population in 2019 [1], and the population is estimated to reach up to approximately 38 million in 2040
We found a design that has similar characteristics as the one mentioned above, but the structure of the robot hand was built with a metal material [14]
The hand design with arm socket feature shown in in Figure is designated forfor thethe trans-radial
Summary
Malaysia is a developing country with about 32.6 million population in 2019 [1], and the population is estimated to reach up to approximately 38 million in 2040. Stated that about 0.5% of the population of a developing country have a disability that requires a prosthesis/orthosis and related rehabilitation services [2]. This will be more than 200 thousand people in 2040. This estimation indicates that research in prosthetic device development is of paramount importance to support the increasing demand for improved and affordable upper and lower extremity prostheses. There are many studies on the development of a prosthesis device, especially the robotic hand that resembles the human hand and its function. In order to achieve the goal, the structural design has become the critical perspective that needs to be taken into account
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