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Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic applications

Published online by Cambridge University Press:  23 January 2015

Ting Zhang ,
Xin Qing Wang ,
Li Jiang ,
Xinyu Wu ,
Wei Feng ,
Dingjiang Zhou  and
Hong Liu
Ting Zhang
Affiliation:
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P. R. China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P. R. China
Xin Qing Wang
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P. R. China Institute of Mechanical & Electrical Engineering, China University of Petroleum, Qingdao, P. R. China
Li Jiang*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P. R. China
Xinyu Wu
Affiliation:
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P. R. China
Wei Feng
Affiliation:
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P. R. China
Dingjiang Zhou
Affiliation:
Multi-robot Systems Laboratory, Boston University, Boston, Massachusetts, USA
Hong Liu
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P. R. China
*
*Corresponding author. E-mail: zhangt.hit@gmail.com
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Summary

In this paper, we propose a biomechatronic design of an anthropomorphic artificial hand that is able to mimic the natural motion of human fingers. The prosthetic hand has 5 fingers and 15 joints, which are actuated by 5 embedded motors. Each finger has three phalanges that can fulfill flexion-extension movements independently. The thumb is specially designed to move along a cone surface when grasping, and the other four fingers are well developed based on the four-bar link mechanism to imitate the motion of the human finger. To accomplish the sophisticated control schemes, the fingers are equipped with numerous torque and position sensors. The mechanical parts, sensors, and motion control systems are integrated in the hand structure, and the motion of the hand can be controlled through electromyography (EMG) signals in real-time. A new concept for the sensory feedback system based on an electrical stimulator is also taken into account. The low-cost prosthetic hand is small in size (85% of the human hand), of low weight (420 g) and has a large grasp power (10 N on the fingertips), hence it has a dexterous and humanlike appearance. The performance of the prosthetic hand is validated in a clinical evaluation on transradial amputees.

Keywords

Anthropomorphic artificial handProsthetic handBiomechatronic designElectromyography control
Type
Articles
Information
Robotica , Volume 34 , Issue 10 , October 2016 , pp. 2291 - 2308
Copyright
Copyright © Cambridge University Press 2015 

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