Novel affordable light-weight underactuated biomimetic multi-DOF prosthetic hands

主要目标是应用理论和实验方法更好地了解机构要求，然后开发用于多自由度假手的高度新颖的解决方案。在这种情况下，为了最大限度地减少所需的独立执行器的数量，我们将采用新的方法来重新配置机构(针对不同的抓握模式)和差动运动学(以符合不同的物体形状)。数字化加法制造方法也将应用于该项目。为了实现这一点，我们设想了以下工作：a)回顾关于练习中实际使用的握力模式以及与之相关的对截肢者最重要的双手任务的文献。现有的多自由度手提供的许多抓握模式很少使用(Resnik，L.，Acluche，F.，和Borgia，M.，2018)。这样，就能识别出一组合理的抓握模式。B)基于这组抓握模式，将建立正式的运动学规范。这将是数学公式，以便它可以被用作理论机构综合方法的输入。C)应用形式化机构设计方法(基于机构理论)生成可选的软-刚性混合机构设计，以实现：i)针对不同的抓取模式进行机构重构；ii)根据不同的物体形状进行不同的运动学；以及iii)智能地适应抓取力。D)使用虚拟样机对包含我们的新机构的可选多自由度手部设计进行建模，然后将这些设计缩小到1到2个首选设计。E)通过索尔福德的Maker Space和NERIC(英格兰北部机器人创新中心)生产研究原型，并在英国和中国的一小群截肢者身上进行测试。

The overarching aim is to apply theoretical and experimental approaches to better understand the mechanism requirements and then develop highly novel solutions for multi-DOF prosthetic hands. In this context, to minimise the number of independent actuators required, we will adopt novel approaches to mechanism reconfiguration (for different grip patterns) and differential kinematics (to conform to different object shapes). Digital additive manufacturing approaches will also be applied in this project. To achieve this we envisage the following work: a) Review literature on the grip patterns actually used in practise and the associated bimanual tasks that matter most for amputees. Many of the grip patterns provided by existing multi-DOF hands are rarely used (Resnik, L., Acluche, F., and Borgia, M., 2018). In this way, a sensible set of grip patterns will be identified. b) Based on this set of grip patterns, a formal kinematic specification will be established. This will be formulated mathematically so that it can be used as input for theoretical mechanism synthesis methods. c) Apply formal mechanism design methods (based on mechanism theory) to generate alternative hybrid soft-rigid mechanism designs to achieve: i) mechanism reconfiguration for different grip patterns; ii) differential kinematics to conform to different object shapes; and iii) intelligent adaptation to grip force. d) Use virtual prototyping to model alternative multi-DOF hand designs incorporating our novel mechanisms and then to narrow these down to 1 or 2 preferred designs. e) Produce research prototypes via Salford's Maker Space and NERIC (North England Robotics Innovation Centre), and test with a small cohort of amputees in both the UK and China.