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

以人手为模型，设计并研制了具有可编程被动动力学的假体机械手。研究目标包括建立手部可变被动动力学的数学模型，研究手部被动动力学在手部操作中的作用，设计新型关节机构，开发手部原型和肌电控制接口，以及开发用于教育的教学实验室模块。该项目开发技术，以大大改善手部残疾者，包括从持续战争中返回的截肢者的康复和生活质量。这项工作解决了对假肢手功能和控制机制进行实质性改进的迫切需要。目前大多数假肢手都没有解决一个有用的假肢手的潜在设计约束，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的进步做出贡献。最后，在工程研究和教育方面招收妇女、残疾人和印第安学生的项目也已到位。

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.