A novel adaptive prosthetic finger design with scalability

S. Liu; J. Angeles; C. Chen

doi:10.1007/978-3-031-45770-8_9

A novel adaptive prosthetic finger design with scalability

S. Liu, J. Angeles, C. Chen

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

1 Citation (Scopus)

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 language	English
Title of host publication	Advances in Mechanism and Machine Science
Subtitle of host publication	Proceedings of the 16th IFToMM World Congress 2023
Editors	Masafumi Okada
Place of Publication	Cham Switzerland
Publisher	Springer
Pages	85-95
Number of pages	11
Volume	2
Edition	1st
ISBN (Electronic)	9783031457708
ISBN (Print)	9783031457692
DOIs	https://doi.org/10.1007/978-3-031-45770-8_9
Publication status	Published - 2023
Event	International Federation of Theory of Machines and Mechanisms World Congress 2023 - Tokyo, Japan Duration: 5 Nov 2023 → 9 Nov 2023 Conference number: 16th https://link.springer.com/book/10.1007/978-3-031-45770-8 (Proceedings)

Publication series

Name	Mechanisms and Machine Science
Publisher	Springer
Volume	148
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	International Federation of Theory of Machines and Mechanisms World Congress 2023
Abbreviated title	IFToMM WC 2023
Country/Territory	Japan
City	Tokyo
Period	5/11/23 → 9/11/23
Internet address	https://link.springer.com/book/10.1007/978-3-031-45770-8 (Proceedings)

Keywords

3D-printing technology
Constraint analysis
Gripper
Prosthetic hand

Access to Document

10.1007/978-3-031-45770-8_9

Cite this

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title = "A novel adaptive prosthetic finger design with scalability",

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.",

keywords = "3D-printing technology, Constraint analysis, Gripper, Prosthetic hand",

author = "S. Liu and J. Angeles and C. Chen",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; International Federation of Theory of Machines and Mechanisms World Congress 2023, IFToMM WC 2023 ; Conference date: 05-11-2023 Through 09-11-2023",

year = "2023",

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language = "English",

isbn = "9783031457692",

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Liu, S, Angeles, J & Chen, C 2023, A novel adaptive prosthetic finger design with scalability. in M Okada (ed.), Advances in Mechanism and Machine Science: Proceedings of the 16th IFToMM World Congress 2023. 1st edn, vol. 2, Mechanisms and Machine Science, vol. 148, Springer, Cham Switzerland, pp. 85-95, International Federation of Theory of Machines and Mechanisms World Congress 2023, Tokyo, Japan, 5/11/23. https://doi.org/10.1007/978-3-031-45770-8_9

A novel adaptive prosthetic finger design with scalability. / Liu, S.; Angeles, J.; Chen, C.
Advances in Mechanism and Machine Science: Proceedings of the 16th IFToMM World Congress 2023. ed. / Masafumi Okada. Vol. 2 1st. ed. Cham Switzerland: Springer, 2023. p. 85-95 (Mechanisms and Machine Science; Vol. 148).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

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T1 - A novel adaptive prosthetic finger design with scalability

AU - Liu, S.

AU - Angeles, J.

AU - Chen, C.

N1 - Conference code: 16th

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - 3D-printing technology

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KW - Prosthetic hand

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Y2 - 5 November 2023 through 9 November 2023

ER -

A novel adaptive prosthetic finger design with scalability

Abstract

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Keywords

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