Abstract
The present paper describes the development of a prosthetic hand based on human hand anatomy. The hand phalanges are printed with 3D printing with Polylactic Acid material. One of the main contributions is the investigation on the prosthetic hand joins; the proposed design enables one to create personalized joins that provide the prosthetic hand a high level of movement by increasing the degrees of freedom of the fingers. Moreover, the driven wire tendons show a progressive grasping movement, being the friction of the tendons with the phalanges very low. Another important point is the use of force sensitive resistors (FSR) for simulating the hand touch pressure. These are used for the grasping stop simulating touch pressure of the fingers. Surface Electromyogram (EMG) sensors allow the user to control the prosthetic hand-grasping start. Their use may provide the prosthetic hand the possibility of the classification of the hand movements. The practical results included in the paper prove the importance of the soft joins for the object manipulation and to get adapted to the object surface. Finally, the force sensitive sensors allow the prosthesis to actuate more naturally by adding conditions and classifications to the Electromyogram sensor.
Highlights
More than 3 million people suffer from hand amputations or loss due to health disorders caused by infections, congenital absence, diabetes, cancer or others [1,2]
All hard elements were constructed by using 3D printing technology with Polylactic Acid (PLA) filament that has good functional and structural characteristics and that are suitable for 3D printing
As the prosthetic phalanges are based on human hand anatomy, the length of the fingers is 99% of the real hand; the 1% remaining depends on the joins
Summary
More than 3 million people suffer from hand amputations or loss due to health disorders caused by infections, congenital absence, diabetes, cancer or others [1,2]. The prosthetic hands based on EMG use electrical signals of two antagonist muscle contractions They allow two directions of movement: flexion and extension; one is for start grasping while the other is to start extension. The ones with multiple degrees of freedom, known as multiarticulated prostheses, are fitted with several actuators for different fingers and/or interphalangeal joins [17,18]. They use small actuators that perform the required movement. Devices with one degree ofdegree freedom perform onlythe the extension flexion movements These devices are robust [16,17].
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