Design and Model of a Prosthesis for Hand

Abstract

Abstract This paper presents research results on a prosthesis for human hand, focused on the need to be light weight and user friendly, with relatively low costs and enabling people have almost normal life. The idea to have a customized hand prosthesis, whose dimensios and aspect look as much as possible to that of the real hand pointed to the reverse engineering technique. The authors’ concept of prosthesis for hand is that of three phalanges finger and, mainly, two rotational motions for each of the fingers. Considering the 3D model of the hand prosthesis, with phalanges lengths and joints, there has been done kinematic analysis so that trajectories of fingers were determined and plotted. For the research presentd by this paper, are evidenced the 3D models and stages of rapid prototyping fused deposition models (FDM) of the index finger phalanges. Motion control has been modelled using fuzzy logic. The studied motion is that of getting closer to an object in order to take / grip it. Further development of the research will be focused on: all mechanical components detailed design; complete desgin of the command and control system for the mechatronic parts; prototyping; test and validation of the prosthesis prototype.