Sub-actuated anthropometric robotic prototype hand

Abstract

This work describes the methodology used to obtain the functional prototype of a robotic hand considering anthropometric characteristics, from the analysis and processing of Computerized Tomographic (CT) images that provide information for the development of the analytical study of the synthesis of an under-acted mechanism. with four bars, suitable for the generation of optimal trajectories to carry out the object clamping operation in a punctual, palmar, lateral, cylindrical and spherical shape. In this sense, the scientific and technological relevance obtained from this work is based on the diversity of movements that the device executes in addition to its ability to adapt to various auxiliary components, which perform the function of union with the limb stump. amputee, so it is possible that the designed system is applicable as a prosthesis. In this sense, with this proposal a functional prototype is obtained with optimal versatile characteristics for the manipulation of objects with different geometries that, taking into account the functionality of the system, also provide appearance and symmetry with the human body.