A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities
A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities
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DOI：
10.1371/journal.pone.0232766
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发表时间：
2020-05-14
期刊：
影响因子：
3.7
通讯作者：
Oetomo, Denny
中科院分区：
文献类型：
--
作者：
Mohammadi, Alireza;Lavranos, Jim;Oetomo, Denny
单片结构的软机械臂由于其重量轻、设计紧凑、制造简单等优点，在假肢领域显示出巨大的潜力。然而，现有的软假手设计往往不适合于解决假肢研究中强调的一些实用要求。现有设计与实际要求之间的差距大大阻碍了将这些设计转化为现实世界应用的潜力。这项工作在考虑实用性和性能之间的权衡的情况下解决了这些要求。这些要求是通过利用软材料的单片3D打印来实现的，该软材料在手指设计中结合了薄膜封闭式弯曲关节，在拟议的手假体中结合了基于协同的拇指运动和电缆驱动的驱动系统。我们的系统设计(暂定名为X-Limb)实现了253 Gr的重量、三种抓握类型(具有单个手指移动的能力)、21.5N的力量握持力、1.3秒的手指屈曲速度、至少45,000次抓取周期(同时保持其原始功能)和200美元的材料成本(不包括快速断开手腕，但不考虑通过大规模生产降低成本)。采用标准的上肢截肢者活动度基准测试，评价X-肢体执行日常生活活动所需的抓取任务的能力。结果表明，所设计的软假手完全满足实际设计要求，能够完成基准测试中的所有真实抓取任务，在提高上肢功能丧失患者的生活质量方面显示出巨大的潜力。
Soft robotic hands with monolithic structure have shown great potential to be used as prostheses due to their advantages to yield light weight and compact designs as well as its ease of manufacture. However, existing soft prosthetic hands design were often not geared towards addressing some of the practical requirements highlighted in prosthetics research. The gap between the existing designs and the practical requirements significantly hampers the potential to transfer these designs to real-world applications. This work addressed these requirements with the consideration of the trade-off between practicality and performance. These requirements were achieved through exploiting the monolithic 3D printing of soft materials which incorporates membrane enclosed flexure joints in the finger designs, synergy-based thumb motion and cable-driven actuation system in the proposed hand prosthesis. Our systematic design (tentatively named X-Limb) achieves a weight of 253gr, three grasps types (with capability of individual finger movement), power-grip force of 21.5N, finger flexion speed of 1.3sec, a minimum grasping cycles of 45,000 (while maintaining its original functionality) and a bill of material cost of 200 USD (excluding quick disconnect wrist but without factoring in the cost reduction through mass production). A standard Activities Measure for Upper-Limb Amputees benchmark test was carried out to evaluate the capability of X-Limb in performing grasping task required for activities of daily living. The results show that all the practical design requirements are satisfied, and the proposed soft prosthetic hand is able to perform all the real-world grasping tasks of the benchmark tests, showing great potential in improving life quality of individuals with upper limb loss.