Rehand II: Wire-driven five-fingered electric prosthetic hand utilizing elasticity of a cosmetic glove
Rehand II: Wire-driven five-fingered electric prosthetic hand utilizing elasticity of a cosmetic glove
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Rehand II：利用化妆手套弹性的线驱动五指电动假手
DOI：
10.1109/embc.2019.8856658
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Noritaka Kawashima
中科院分区：
文献类型：
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作者：
Narinobu Odagaki;Masahiro Yoshikawa;Yoshihiro Tanaka;Noritaka Kawashima
五指电动假手已经商业化，以协助前臂截肢者的日常活动。由于五指电动假手使用复杂的机构和多个致动器，总重量为1公斤或更多。虽然有些手覆盖着专用的硅手套，但与一般的化妆品手相比，它们的外观并不逼真。在本文中，我们报告了一个线驱动的五指电动假手利用弹性的美容手套称为Rehand II。五个手指通过单个伺服电机拉动电线弯曲，并通过美容手套的弹性延伸。此外，手中的拟合机制允许手拟合各种物体的形状。通过这种方法，我们开发了一种具有简单抓握功能的电动假手，解决了传统手的外观和重量问题。开发的手的总重量为562 g。通过南安普顿手评估程序（SHAP）和日常用品的抓握测试，其中一个前臂截肢者参与的评价测试的结果表明，开发的假肢表现出的功能，以处理日常活动中使用的各种物体。
Five-fingered electric prosthetic hands have been commercialized to assist the activities of forearm amputees in their daily life. Since the five-fingered electric prosthetic hands use a complicated mechanism and several actuators, the total weight is 1 kg or more. Although some hands are covered with a dedicated silicon glove, the appearance of them is not realistic compared to a general cosmetic hand. In this paper, we report a wire-driven five-fingered electric prosthetic hand utilizing elasticity of a cosmetic glove termed as Rehand II. The five fingers are flexed by pulling wires with a single servo motor and are extended by the elasticity of the cosmetic glove. In addition, a fitting mechanism in the hand allows the hand to fit the shape of various objects. With this approach, we developed an electric prosthetic hand with a simple grasping function that solves appearance and weight problems in conventional hands. The total weight of the developed hand was 562 g. The results of evaluation tests via Southampton Hand Assessment Procedure (SHAP) and grasping test of daily necessities in which a forearm amputee participated demonstrated that the developed prosthesis exhibited function to manipulate various objects used in daily activities.