{"title":"Posture-dependent variable transmission mechanism for prosthetic hand inspired by human grasping characteristics","authors":"","doi":"10.1007/s11370-024-00516-7","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> <p>Gripping objects firmly and quickly is an important function of the human hand for everyday life. Prosthetic devices face significant challenges in replicating these capabilities, particularly in achieving a delicate balance between swift grasping and substantial grip strength while adhering to weight and form-factor constraints. To address these challenges, this study introduces a novel posture-dependent variable transmission (PDVT) that mimics the human hand’s behavior by employing a spiral-shaped spool. The PDVT’s spiral-shaped spool replicates the human hand’s quick and gentle pre-contact movements followed by a stronger force application after contact with the object. Additionally, a compressive series elastic spring enhances tendon tension across a wide range of finger postures. The manufacturing method of PDVT, utilizing both 3D printing and metal processing, enables the creation of complex spiral shapes. The PDVT demonstrates improvements in both speed and grip strength compared to conventional rigid spool mechanisms. The PDVT has the potential to be applied to various robotic grasping systems.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.3000,"publicationDate":"2024-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Intelligent Service Robotics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1007/s11370-024-00516-7","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
Gripping objects firmly and quickly is an important function of the human hand for everyday life. Prosthetic devices face significant challenges in replicating these capabilities, particularly in achieving a delicate balance between swift grasping and substantial grip strength while adhering to weight and form-factor constraints. To address these challenges, this study introduces a novel posture-dependent variable transmission (PDVT) that mimics the human hand’s behavior by employing a spiral-shaped spool. The PDVT’s spiral-shaped spool replicates the human hand’s quick and gentle pre-contact movements followed by a stronger force application after contact with the object. Additionally, a compressive series elastic spring enhances tendon tension across a wide range of finger postures. The manufacturing method of PDVT, utilizing both 3D printing and metal processing, enables the creation of complex spiral shapes. The PDVT demonstrates improvements in both speed and grip strength compared to conventional rigid spool mechanisms. The PDVT has the potential to be applied to various robotic grasping systems.
期刊介绍：
The journal directs special attention to the emerging significance of integrating robotics with information technology and cognitive science (such as ubiquitous and adaptive computing,information integration in a distributed environment, and cognitive modelling for human-robot interaction), which spurs innovation toward a new multi-dimensional robotic service to humans. The journal intends to capture and archive this emerging yet significant advancement in the field of intelligent service robotics. The journal will publish original papers of innovative ideas and concepts, new discoveries and improvements, as well as novel applications and business models which are related to the field of intelligent service robotics described above and are proven to be of high quality. The areas that the Journal will cover include, but are not limited to: Intelligent robots serving humans in daily life or in a hazardous environment, such as home or personal service robots, entertainment robots, education robots, medical robots, healthcare and rehabilitation robots, and rescue robots (Service Robotics); Intelligent robotic functions in the form of embedded systems for applications to, for example, intelligent space, intelligent vehicles and transportation systems, intelligent manufacturing systems, and intelligent medical facilities (Embedded Robotics); The integration of robotics with network technologies, generating such services and solutions as distributed robots, distance robotic education-aides, and virtual laboratories or museums (Networked Robotics).
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