Development of a Prototype Over-Actuated Biomimetic Prosthetic Hand
Identifieur interne : 000974 ( Main/Exploration ); précédent : 000973; suivant : 000975Development of a Prototype Over-Actuated Biomimetic Prosthetic Hand
Auteurs : Matthew R. Williams [États-Unis] ; Wayne Walter [États-Unis]Source :
- PLoS ONE [ 1932-6203 ] ; 2015.
Abstract
The loss of a hand can greatly affect quality of life. A prosthetic device that can mimic normal hand function is very important to physical and mental recuperation after hand amputation, but the currently available prosthetics do not fully meet the needs of the amputee community. Most prosthetic hands are not dexterous enough to grasp a variety of shaped objects, and those that are tend to be heavy, leading to discomfort while wearing the device. In order to attempt to better simulate human hand function, a dexterous hand was developed that uses an over-actuated mechanism to form grasp shape using intrinsic joint mounted motors in addition to a finger tendon to produce large flexion force for a tight grip. This novel actuation method allows the hand to use small actuators for grip shape formation, and the tendon to produce high grip strength. The hand was capable of producing fingertip flexion force suitable for most activities of daily living. In addition, it was able to produce a range of grasp shapes with natural, independent finger motion, and appearance similar to that of a human hand. The hand also had a mass distribution more similar to a natural forearm and hand compared to contemporary prosthetics due to the more proximal location of the heavier components of the system. This paper describes the design of the hand and controller, as well as the test results.
Url:
DOI: 10.1371/journal.pone.0118817
PubMed: 25790306
PubMed Central: 4366331
Affiliations:
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Development of a Prototype Over-Actuated Biomimetic Prosthetic Hand</title><author><name sortKey="Williams, Matthew R" sort="Williams, Matthew R" uniqKey="Williams M" first="Matthew R." last="Williams">Matthew R. Williams</name><affiliation wicri:level="2"><nlm:aff id="aff001"><addr-line>Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland Functional Electrical Stimulation Center, Cleveland, Ohio, United States of America</addr-line></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland Functional Electrical Stimulation Center, Cleveland, Ohio</wicri:regionArea><placeName><region type="state">Ohio</region></placeName></affiliation></author><author><name sortKey="Walter, Wayne" sort="Walter, Wayne" uniqKey="Walter W" first="Wayne" last="Walter">Wayne Walter</name><affiliation wicri:level="2"><nlm:aff id="aff002"><addr-line>Department of Mechanical Engineering, Rochester Institute of Technology, Rochester, New York, United States of America</addr-line></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Department of Mechanical Engineering, Rochester Institute of Technology, Rochester, New York</wicri:regionArea><placeName><region type="state">État de New York</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">25790306</idno><idno type="pmc">4366331</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4366331</idno><idno type="RBID">PMC:4366331</idno><idno type="doi">10.1371/journal.pone.0118817</idno><date when="2015">2015</date><idno type="wicri:Area/Pmc/Corpus">000274</idno><idno type="wicri:Area/Pmc/Curation">000274</idno><idno type="wicri:Area/Pmc/Checkpoint">000636</idno><idno type="wicri:Area/Ncbi/Merge">003780</idno><idno type="wicri:Area/Ncbi/Curation">003780</idno><idno type="wicri:Area/Ncbi/Checkpoint">003780</idno><idno type="wicri:Area/Main/Merge">000974</idno><idno type="wicri:Area/Main/Curation">000974</idno><idno type="wicri:Area/Main/Exploration">000974</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Development of a Prototype Over-Actuated Biomimetic Prosthetic Hand</title><author><name sortKey="Williams, Matthew R" sort="Williams, Matthew R" uniqKey="Williams M" first="Matthew R." last="Williams">Matthew R. Williams</name><affiliation wicri:level="2"><nlm:aff id="aff001"><addr-line>Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland Functional Electrical Stimulation Center, Cleveland, Ohio, United States of America</addr-line></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland Functional Electrical Stimulation Center, Cleveland, Ohio</wicri:regionArea><placeName><region type="state">Ohio</region></placeName></affiliation></author><author><name sortKey="Walter, Wayne" sort="Walter, Wayne" uniqKey="Walter W" first="Wayne" last="Walter">Wayne Walter</name><affiliation wicri:level="2"><nlm:aff id="aff002"><addr-line>Department of Mechanical Engineering, Rochester Institute of Technology, Rochester, New York, United States of America</addr-line></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Department of Mechanical Engineering, Rochester Institute of Technology, Rochester, New York</wicri:regionArea><placeName><region type="state">État de New York</region></placeName></affiliation></author></analytic><series><title level="j">PLoS ONE</title><idno type="eISSN">1932-6203</idno><imprint><date when="2015">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>The loss of a hand can greatly affect quality of life. A prosthetic device that can mimic normal hand function is very important to physical and mental recuperation after hand amputation, but the currently available prosthetics do not fully meet the needs of the amputee community. Most prosthetic hands are not dexterous enough to grasp a variety of shaped objects, and those that are tend to be heavy, leading to discomfort while wearing the device. In order to attempt to better simulate human hand function, a dexterous hand was developed that uses an over-actuated mechanism to form grasp shape using intrinsic joint mounted motors in addition to a finger tendon to produce large flexion force for a tight grip. This novel actuation method allows the hand to use small actuators for grip shape formation, and the tendon to produce high grip strength. The hand was capable of producing fingertip flexion force suitable for most activities of daily living. In addition, it was able to produce a range of grasp shapes with natural, independent finger motion, and appearance similar to that of a human hand. The hand also had a mass distribution more similar to a natural forearm and hand compared to contemporary prosthetics due to the more proximal location of the heavier components of the system. This paper describes the design of the hand and controller, as well as the test results.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Ziegler Graham, K" uniqKey="Ziegler Graham K">K Ziegler-Graham</name></author><author><name sortKey="Mackenzie, Ej" uniqKey="Mackenzie E">EJ MacKenzie</name></author><author><name sortKey="Ephraim, Pl" uniqKey="Ephraim P">PL Ephraim</name></author><author><name sortKey="Travison, Tg" uniqKey="Travison T">TG Travison</name></author><author><name sortKey="Brookmeyer, R" uniqKey="Brookmeyer R">R Brookmeyer</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Tennent, Dj" uniqKey="Tennent D">DJ Tennent</name></author><author><name sortKey="Wenke, Jc" uniqKey="Wenke J">JC Wenke</name></author><author><name sortKey="Rivera, Jc" uniqKey="Rivera J">JC Rivera</name></author><author><name sortKey="Krueger, Ca" uniqKey="Krueger C">CA 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Keith</name></author><author><name sortKey="Anderson, Jr" uniqKey="Anderson J">JR Anderson</name></author><author><name sortKey="Tyler, Jd" uniqKey="Tyler J">JD Tyler</name></author><author><name sortKey="Tyler, Dj" uniqKey="Tyler D">DJ Tyler</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Mingrino, A" uniqKey="Mingrino A">A Mingrino</name></author><author><name sortKey="Bucci, A" uniqKey="Bucci A">A Bucci</name></author><author><name sortKey="Magni, R" uniqKey="Magni R">R Magni</name></author><author><name sortKey="Dario, P" uniqKey="Dario P">P Dario</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Light, Cm" uniqKey="Light C">CM Light</name></author><author><name sortKey="Chappell, Ph" uniqKey="Chappell P">PH Chappell</name></author><author><name sortKey="Hudgins, B" uniqKey="Hudgins B">B Hudgins</name></author><author><name sortKey="Engelhart, K" uniqKey="Engelhart K">K 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|texte= Development of a Prototype Over-Actuated Biomimetic Prosthetic Hand
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