CAREER: Development of a Robotic Prosthetic Hand with Programmable Passive Dynamics

采用仿人手的可编程被动动力学模型，设计并研制了一种机器人假手。 目标包括开发人手可变被动动力学的数学模型，研究被动动力学在手部操作中的作用，设计新颖的关节机制，开发手部原型和EMG控制界面，以及开发用于教育的教学实验室模块。包括从战争中返回的截肢者。这项工作解决了迫切需要大幅改善假手的功能和控制机制。 大多数当前的假手没有解决有用的假手的潜在设计约束，即重量和尺寸限制、有限的控制、易于控制和合适的美学。 此外，学生学习这门新学科，并为这一领域的科学和技术进步做出贡献。最后，还制定了计划，招募妇女、残疾人和美洲原住民学生从事工程研究和教育。

A prosthetic robot hand is designed and developed with programmable passive dynamics modeled after human hands. The goals include the development of mathematical models of variable passive dynamics in human hands, the study of the role of passive dynamics in hand operations, the design of novel joint mechanisms, development of a hand prototype and an EMG control interface, and the development of pedagogical laboratory modules for education.The project develops technology to substantially improve rehabilitation and quality of life for persons with hand disabilities, including amputees returning from ongoing wars. This work addresses the acute need for substantial improvement in the functionality and control mechanisms for prosthetic hands. Most current prosthetic hands do not address the underlying design constraints of a useful prosthetic hand, namely, weight and size limitations, limited control, ease of control and suitable aesthetics. In addition, students learn this new subject and contribute to the advance of science and technology in this domain. Finally, programs are in place to recruit women, individuals with disabilities, and Native American students in engineering research and education.