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Improvement of an Underactuated Prosthetic Hand Based on Grasp Performance Evaluation
- Authors
- Lee, Geon Ho; Kwon, Hyo Chan; Kim, Kwon Hee
- Issue Date
- 10월-2016
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Keywords
- Prosthetic Hand; Underactuated Mechanism; Grasp Performance Evaluation; Design of Experiments
- Citation
- TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A, v.40, no.10, pp.843 - 849
- Indexed
- SCOPUS
KCI
- Volume
- 40
- Number
- 10
- Start Page
- 843
- End Page
- 849
- ISSN
- 1226-4873
- Abstract
- It has been shown that the adaptive grasp feature can be implemented by underactuated robotic hands with a minimal number of actuators. Following this approach, a new design of prosthetic hand is presented. A method is proposed for evaluating grasp performance using cylinders, spheres, and square bars of various sizes. The effects of the major design parameters were investigated experimentally and an improved design is proposed.
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