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

仿照人类双手，设计并开发了一种可编程被动动力学假手。该项目的目标包括开发人类手中可变被动动力学的数学模型，研究被动动力学在手操作中的作用，设计新的关节机制，开发手原型和肌电控制界面，以及开发用于教育的教学实验室模块。该项目开发技术，以大幅改善手部残疾人，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手的功能和控制机制进行实质性改进的迫切需要。目前的大多数假手没有解决实用假手的潜在设计限制，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，学生们学习这门新学科，并为这一领域的科学技术进步做出贡献。最后，在工程研究和教育领域招收妇女、残疾人和美洲原住民学生的计划已经到位。

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.