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

总体目标是应用理论和实验方法，以更好地了解机制的要求，然后开发高度新颖的解决方案，多自由度假手。在这种情况下，为了最大限度地减少所需的独立致动器的数量，我们将采用新的方法来重新配置机构（针对不同的抓地力模式）和差分运动学（以符合不同的物体形状）。数字增材制造方法也将应用于该项目。为了实现这一点，我们设想以下工作：a）回顾文献中实际使用的抓握模式和相关的双手任务，截肢者最重要的。由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年）。以这种方式，将识别一组合理的抓握模式。B）基于这组夹持模式，将建立正式的运动学规范。这将在数学上制定，使其可以用作理论机制合成方法的输入。c）应用形式化的机构设计方法（基于机构理论）来生成备选的混合软硬机构设计，以实现：i）针对不同抓握模式的机构重构; ii）差分运动学以符合不同的物体形状;以及iii）对抓握力的智能适应。d）使用虚拟原型来模拟包含我们的新机制的替代多自由度手设计，然后将这些设计缩小到1或2个首选设计。e）通过索尔福德的创客空间和NERIC（北英格兰机器人创新中心）生产研究原型，并在英国和中国的一小群截肢者中进行测试。

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.