Development of an internally powered functional prosthetic hand with a voluntary closing system and thumb flexion and radial abduction-based on normal human grasping action
Development of an internally powered functional prosthetic hand with a voluntary closing system and thumb flexion and radial abduction-based on normal human grasping action
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基于正常人类抓握动作，开发具有自愿闭合系统、拇指屈曲和桡侧外展的内动力功能性假手
DOI：
10.1109/roman.2000.892638
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
M. Sakawa
中科院分区：
文献类型：
--
作者：
A. Otsuka;T. Tsuji;O. Fukuda;M. Eisemann Shimizu;M. Sakawa
本文的目的是介绍一种利用机器人机械手技术开发的具有自主闭合功能的内动力功能假手。通过对人体抓握动作的肌电图和三维分析，我们发现，如果腕关节固定，拇指沿对角线方向移动，肩关节和肘关节的抬升补偿会减小。实验结果表明，拇指的屈曲和桡外展运动在人类抓取运动中发挥着重要的运动学作用。提出了一种用于内部供电的功能性假手的机械装置，该机械装置可以通过单根电缆驱动具有两个关节的四个手指。机械中的腱传动有利于手驱动指关节。我们建议以下结果； （1）我们开发的手具有被动顺应性，（2）可以抓取不同直径横截面的物体。
The purpose of the paper was to introduce an internally powered functional prosthetic hand with a voluntary closing function, which was developed by using robot manipulator technology. From electromyographic and three dimensional analyses of human grasping movements, we found that, if the wrist joint is fixed and the thumb moves in a diagonal direction, the compensation of lifting the shoulder and elbow joints decreases. The experimental results demonstrate that the thumb movements of flexion and radial abduction play an important kinematic role in human grasping movements. Machinery for an internally powered functional prosthetic hand that can drive four fingers with two joints by a single cable is proposed. Tendon transmission in the machinery is useful for the hand to drive the finger joints. We suggest the following results; (1) the hand we developed has passive compliance, (2) and can grasp objects with a cross section of different diameters.