Publicação
Mechanical Design of a Poly-articulated Prosthetic Hand
| Resumo: | Only 62% of arm amputees resort to prosthetic devices. Moreover, 1 in 5 of these individuals abandon them. A heavily contributing factor to this is the preference of some anthropomorphic and performance related features over others due to technological impediments. This reduces the devices’ adaptability as every individual favours different feature combinations. Therefore, research on the different feature combinations is essential to increase the adaptability of hand prosthesis and decrease their abandonment percentage. In this dissertation, a light and scalable poly-articulated hand prosthesis including 1DoF in the palm was developed based on underactuation and soft-robotic elements in order to study this combination of features’ impact in a devices’ grasp capabilities and learning period. This was achieved through the design of different ideas and testing of different prototypes based on an extensive literature review. The joints’ design includes elastics to ensure soft movement from flexion to extension. The opposite movement is ensured by a cable underactuated system. A bigger device was obtained through scaling of the original one. The mentioned set of features lead to a good grasping capability and a smooth finger and thumb movement. The palm joint of the final prototype could not move completely, therefore having to be moved passively in order to test the prosthetic device. Furthermore, the learning period could not be studied due to the time limit of the internship. In the future, corrections should be made in order to better the movement of the palm joint and the soft materials could be embedded within the joints to reduce the size of the hand. Additionally, the bigger hand should be tested, as the grasping capabilities were only tested on the smaller one and the learning period should be analysed. |
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| Autores principais: | Rodrigues, Beatriz Mocinho |
| Assunto: | Mão Prótese Subatuação Robótica mole Preensão Teses de mestrado - 2024 |
| Ano: | 2024 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso restrito |
| Instituição associada: | Universidade de Lisboa |
| Idioma: | inglês |
| Origem: | Repositório da Universidade de Lisboa |
| Resumo: | Only 62% of arm amputees resort to prosthetic devices. Moreover, 1 in 5 of these individuals abandon them. A heavily contributing factor to this is the preference of some anthropomorphic and performance related features over others due to technological impediments. This reduces the devices’ adaptability as every individual favours different feature combinations. Therefore, research on the different feature combinations is essential to increase the adaptability of hand prosthesis and decrease their abandonment percentage. In this dissertation, a light and scalable poly-articulated hand prosthesis including 1DoF in the palm was developed based on underactuation and soft-robotic elements in order to study this combination of features’ impact in a devices’ grasp capabilities and learning period. This was achieved through the design of different ideas and testing of different prototypes based on an extensive literature review. The joints’ design includes elastics to ensure soft movement from flexion to extension. The opposite movement is ensured by a cable underactuated system. A bigger device was obtained through scaling of the original one. The mentioned set of features lead to a good grasping capability and a smooth finger and thumb movement. The palm joint of the final prototype could not move completely, therefore having to be moved passively in order to test the prosthetic device. Furthermore, the learning period could not be studied due to the time limit of the internship. In the future, corrections should be made in order to better the movement of the palm joint and the soft materials could be embedded within the joints to reduce the size of the hand. Additionally, the bigger hand should be tested, as the grasping capabilities were only tested on the smaller one and the learning period should be analysed. |
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