Abstract
Synthetic skins with humanlike characteristic would make it possible to address some of the psychosocial requirements of prosthetic hands as well as the safety and acceptance issues in social robotics. This paper describes the development of three-dimensional finite element models of synthetic finger phalanges. With the aim of duplicating the skin compliance of human finger phalanges, the model was used to investigate the effects of (i) introducing open pockets in the internal structure and (ii) combining different materials as external and internal layers. The results show that having pockets in the internal structure of the design can increase the skin compliance of the synthetic phalanges and make it comparable with the human counterpart. Moreover, having different layers can be used to satisfy skin compliance and other design requirements such as wear and tear.KeywordsSocial RoboticsProstheticsArtificial SkinsRehabilitation RoboticsFinite Element Analysis
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