Vignesh Sompur
ABSTRACT
The human hand has been the gold standard for the design of artificial hands owing to its dexterity and versatility. The use of artificial hands in industries and prosthetics has been gaining traction in the last few decades. High dexterity comparable to the human hand can be achieved in an engineering system at the expense of simplicity and cost. To this end, underactuation is the most common tool that is employed to overcome the complexity in the design of artificial hands. In this paper, a human grasp-inspired 3-fingered gripper platform is presented. A novel finger arrangement architecture has been proposed for placing the anthropomorphic fingers on the gripper platform. A gear train has been designed to drive the 3 fingers using a single servo actuator. We used open-source human hand grasp data to design the fingers and gear train. The grasp data was analyzed to obtain the finger design parameters. An initial prototype of the proposed model was built using the 3D printing technique. The design was validated using a 3D printed model and the grasping performance was tested.
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