Design of a hand prosthesis with precision and conformal grasp capability.
Design of a hand prosthesis with precision and conformal grasp capability.
复制标题
DOI：
10.1109/embc.2012.6346606
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Goldfarb M
中科院分区：
文献类型：
--
作者：
Bennett DA;Dalley SA;Goldfarb M
本文提出了一种拟人假手的设计，提供了精度和保形抓握能力。具体来说，手的设计以直接驱动的方式奉献了三个驱动器，以实现精确的抓取能力。该设计还提供了一个执行器和六个自由度，以及一个兼容的耦合，为截肢者提供保形抓取能力。本文描述了手的设计，并根据抓握力和手指速度来描述不同程度的驱动。
This paper presents the design of an anthropomorphic prosthetic hand that provides both precision and conformal grasp capability. Specifically, the design of the hand dedicates three actuators in a direct-drive manner to achieving precision grasp capability. The design additionally dedicates one actuator and six degrees of freedom, in addition to a compliant coupling, to providing a conformal grasping capability to the amputee. The design of the hand is described in this paper, and the various degrees of actuation are characterized with respect to grasp forces and finger speeds.