A novel adaptive prosthetic finger design with scalability

S. Liu, J. Angeles, C. Chen

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

Abstract

The complex mechanical structure of multiple-link prosthetic fingers makes their application on low-cost 3D-printed prostheses quite challenging. Even worse, the limited scalability of the existing solutions has become a significant burden for creating child-size prostheses for eight-year-olds or younger. In this paper, we introduce a novel compliant five-link epicyclic (CFLE) finger for 3D-printed hand prostheses. Its unique joint distribution along the kinematic chain renders it an excellent candidate for 3D printing. Moreover, the design allows for a prosthetic finger to be 3D-printed at 50% of the adult size, suitable for four-year-olds or younger. The CFLE finger is modeled as a kinetostatic system based on constraint analysis and pseudo-rigid body (PRB-3R) modeling. Experiments were conducted with an adult-size finger prototype to verify the kinetostatic model and demonstrate its grasping adaptability.

Original languageEnglish
Title of host publicationAdvances in Mechanism and Machine Science
Subtitle of host publicationProceedings of the 16th IFToMM World Congress 2023
EditorsMasafumi Okada
Place of PublicationCham Switzerland
PublisherSpringer
Pages85-95
Number of pages11
Volume2
Edition1st
ISBN (Electronic)9783031457708
ISBN (Print)9783031457692
DOIs
Publication statusPublished - 2023
EventInternational Federation of Theory of Machines and Mechanisms World Congress 2023 - Tokyo, Japan
Duration: 5 Nov 20239 Nov 2023
Conference number: 16th
https://link.springer.com/book/10.1007/978-3-031-45770-8 (Proceedings)

Publication series

NameMechanisms and Machine Science
PublisherSpringer
Volume148
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

ConferenceInternational Federation of Theory of Machines and Mechanisms World Congress 2023
Abbreviated titleIFToMM WC 2023
Country/TerritoryJapan
CityTokyo
Period5/11/239/11/23
Internet address

Keywords

  • 3D-printing technology
  • Constraint analysis
  • Gripper
  • Prosthetic hand

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