Simulation and experimental study on rope driven artificial hand and driven motor

Abstract

BACKGROUND: Prosthetic hands have the potential to replace human hands. Using prosthetic hands can help patients with hand loss to complete the necessary daily living actions. OBJECTIVE: This paper studies the design of a bionic, compact, low-cost, and lightweight 3D printing humanoid hand. The five fingers are underactuated, with a total of 9 degrees of freedom. METHODS: In the design of an underactuated hand, it is a basic element composed of an actuator, spring, rope, and guide system. A single actuator is providing power for five fingers. And the dynamic simulation is carried out to calculate the motion trajectory effect. RESULTS: In this paper, the driving structure of the ultrasonic motor was designed, and the structural size of the ultrasonic motor vibrator was determined by modal and transient simulation analysis, which replace the traditional brake, realize the lightweight design of prosthetic hand, improve the motion accuracy and optimize the driving performance of prosthetic hand. CONCLUSIONS: By replacing traditional actuators with new types of actuators, lightweight design of prosthetic hands can be achieved, improving motion accuracy and optimizing the driving performance of prosthetic hands.