Abstract
In this work, the design of a robotic hand with 7 degrees of freedom is presented that allows greater flexibility, achieving the usual actions performed by a normal hand. The work consists of a prototype designed with linear actuators and myoelectric sensor, following the mechanism of the University of Toronto for the management of functional phalanges. The design, construction description, components and recommendations for the elaboration of a flexible and useful robotic hand for amputee patients with a residual limb for the socket are presented.
 Keywords: Robotic hand, Degree of freedom, Toronto´s Mechanism, lineal actuator.
 References
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Highlights
I.INTRODUCCIÓN 3% of the amputations performed in the United States correspond to upper limbs, involving affectations that affect and limit people's vocational development [1]
achieving the usual actions performed by a normal hand
The work consists of a prototype designed with linear actuators
Summary
I.INTRODUCCIÓN 3% of the amputations performed in the United States correspond to upper limbs, involving affectations that affect and limit people's vocational development [1]. In this work we present a design adapted to linear actuators that drive a mechanism design based on the University of Toronto mechanism [5]. The Toronto development [5] has been considered because it allows a greater similarity to the human hand, offering three articulated phalanges, including the thumb. For this design some functional aspects were considered given the experience of previous prototypes [7,8,9]. One of the important considerations is an arrangement of the thumb that allows mobility in 2 directions of rotation, achieving abduction and adduction of the thumb With this it is possible to improve the grip of pieces, placing this finger in a more natural position
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