TY - GEN
T1 - The mechanical design and experiments of HIT/DLR prosthetic hand
AU - Huang, Hai
AU - Jiang, Li
AU - Liu, Yiwei
AU - Hou, Linqi
AU - Cai, Hegao
AU - Liu, Hong
PY - 2006
Y1 - 2006
N2 - Designed based on the underactuated mechanism,HIT/DLR Prosthetic Hand is a multi-sensory five-fingered bio-prosthetic hand. Similarly with adult's hand, it is simple constructed and comprises 13 joints. Three motors actuate the thumb, index finger and the other three fingers each. Actuated by a motor, the thumb can move along cone surface, which resembles human thumb and is superior in the appearance. Driven by another motor and transmitted by springs, the mid finger, ring finger and little finger can envelop objects with complex shape. The appearance designation and sensory system are introduced. The grasp experiments are presented in detail. The hand has been greatly improved from HIT-ARhand. It was verified from experimentations, the hand has strong capability of self adaptation, can accomplish precise and power grasp for objects with complex shape.
AB - Designed based on the underactuated mechanism,HIT/DLR Prosthetic Hand is a multi-sensory five-fingered bio-prosthetic hand. Similarly with adult's hand, it is simple constructed and comprises 13 joints. Three motors actuate the thumb, index finger and the other three fingers each. Actuated by a motor, the thumb can move along cone surface, which resembles human thumb and is superior in the appearance. Driven by another motor and transmitted by springs, the mid finger, ring finger and little finger can envelop objects with complex shape. The appearance designation and sensory system are introduced. The grasp experiments are presented in detail. The hand has been greatly improved from HIT-ARhand. It was verified from experimentations, the hand has strong capability of self adaptation, can accomplish precise and power grasp for objects with complex shape.
KW - Envelop
KW - Grasp
KW - HIT/DLR prosthetic hand
KW - Underactuated
UR - https://www.scopus.com/pages/publications/46249122117
U2 - 10.1109/ROBIO.2006.340339
DO - 10.1109/ROBIO.2006.340339
M3 - 会议稿件
AN - SCOPUS:46249122117
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 896
EP - 901
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Y2 - 17 December 2006 through 20 December 2006
ER -