This paper presents the design and prototyping of an inherently compliant lightweight hand mechanism. The hand mechanism itself has 15 degrees of freedom and five fingers. Although the degrees of freedom in each finger are coupled, reducing the number of independent degrees of freedom to 5, the 15 degrees of freedom of the hand could potentially be individually actuated. Each joint consists of a novel flexing mechanism that is based on the loading of a compression spring in the axial and transverse direction via a cable and conduit system. Currently, a bench top version of the prototype is being developed; the three joints of each finger are coupled together to simplify the control system. The current control scheme under investigation simulates a control scheme where myoelectric signals in the wrist flexor and extensor muscles are converted in to and coordinates on a control scheme chart. Static load-deformation analysis of finger segments is studied based on a 3-dimensional model without taking the stiffener into account, and the experiment validates the simulation.
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e-mail: jyang@engineering.uiowa.edu
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November 2005
Technical Papers
A Light Weight Compliant Hand Mechanism With High Degrees of Freedom
Jason Potratz,
Jason Potratz
Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design,
The University of Iowa
, 111 Engineering Research Facility, Iowa City, IA 52242-1000
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Jingzhou Yang,
Jingzhou Yang
1-319-353-2249
Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design,
e-mail: jyang@engineering.uiowa.edu
The University of Iowa
, 111 Engineering Research Facility, Iowa City, IA 52242-1000
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Karim Abdel-Malek,
Karim Abdel-Malek
Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design, and Department of Biomedical Engineering
The University of Iowa
, Iowa City, IA 52242-1000
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Esteban Peña Pitarch,
Esteban Peña Pitarch
Department Enginyeria Mecanica,
Universitat Politecnica de Catalunya (UPC)
, Av. Bases de Manresa, 61-73, 08240 Manresa, Spain
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Nicole Grosland
Nicole Grosland
Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design, and Department of Biomedical Engineering, and Department of Orthopaedic Surgery and Rehabilitation,
The University of Iowa
, Iowa City, IA 52242-1000
Search for other works by this author on:
Jason Potratz
Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design,
The University of Iowa
, 111 Engineering Research Facility, Iowa City, IA 52242-1000
Jingzhou Yang
1-319-353-2249
Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design,
The University of Iowa
, 111 Engineering Research Facility, Iowa City, IA 52242-1000e-mail: jyang@engineering.uiowa.edu
Karim Abdel-Malek
Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design, and Department of Biomedical Engineering
The University of Iowa
, Iowa City, IA 52242-1000
Esteban Peña Pitarch
Department Enginyeria Mecanica,
Universitat Politecnica de Catalunya (UPC)
, Av. Bases de Manresa, 61-73, 08240 Manresa, Spain
Nicole Grosland
Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design, and Department of Biomedical Engineering, and Department of Orthopaedic Surgery and Rehabilitation,
The University of Iowa
, Iowa City, IA 52242-1000J Biomech Eng. Nov 2005, 127(6): 934-945 (12 pages)
Published Online: August 12, 2005
Article history
Received:
March 31, 2005
Revised:
August 12, 2005
Accepted:
August 12, 2005
Citation
Potratz, J., Yang, J., Abdel-Malek, K., Pitarch, E. P., and Grosland, N. (August 12, 2005). "A Light Weight Compliant Hand Mechanism With High Degrees of Freedom." ASME. J Biomech Eng. November 2005; 127(6): 934–945. https://doi.org/10.1115/1.2052805
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