Mechanism and computer simulation of a new robot hand for potential use as an artificial hand
Journal
Artificial Organs
Journal Volume
21
Journal Issue
1
Pages
59-69
Date Issued
1997
Author(s)
Lin L.-R
Abstract
A prosthetic hand is essential to provide rehabilitation for individuals who lose a hand. A prosthetic hand serves two purposes: cosmetic and functional. In this paper, a prototype of the artificial hand with an emphasis on the functionality purpose is presented. A new mechanism, the NTU-Hand (NTU-Hand, patent number 107115, Taiwan, R.O.C.), which has 5 fingers with 17 degrees of freedom, has been designed and fabricated in our laboratory. Due to the special design of the mechanism, the hand has an uncoupled configuration in which each finger and joint are all individually driven. The size of the hand is almost the same as a human hand. All actuators, mechanical parts, and sensors are on the hand. The compact design makes it feasible to adapt the hand to the injured wrist. A computer simulation with three-dimensional graphics was also built to evaluate the manipulable range of the artificial hand. From the results of this simulation, the relationship between the hand and the grasped object in a specific viewpoint can be obtained.
Subjects
artificial hand; hand mechanism design; NTU-hand; prosthetic hand
SDGs
Other Subjects
Machine design; Mechanical actuators; Mechanisms; Prosthetics; Three dimensional computer graphics; Artificial hand; Hand mechanism design; Human hands; Mechanical parts; Mechanism design; New mechanisms; NTU-hand; Patent number; Prosthetic hands; Robot hand; Degrees of freedom (mechanics); article; artificial organ; computer simulation; hand prosthesis; priority journal; rehabilitation
Type
journal article