Development of Self-Powered 5-Finger Pneumatically Driven Hand Prosthesis Using Supination of Forearm-Reference-Cited by-同舟云学术

Development of Self-Powered 5-Finger Pneumatically Driven Hand Prosthesis Using Supination of Forearm

Published:2022-04-20 Issue:2 Volume:34 Page:454-465
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Nishikawa Kotaro,Hirata Kentaro,Takaiwa Masahiro, , ,

Abstract

Recently, myoelectric hand prostheses produced by the combination of 3D-CAD and printer have gained attention. 3D printing of hand prosthesis has resulted in cost reduction. However, when an electric actuator with reduction gears is used as the driving source of the hand prosthesis, the joint rigidity becomes high; therefore, compliance control is required to grasp soft target objects. In this study, we propose a pneumatically driven hand prosthesis using a flexible bellows actuator. The hand prosthesis is lightweight and inexpensive because it is self-powered and generates compressed air through the supination motion of the user’s forearm instead of an external compressor, which is essential for conventional pneumatic systems. Stable flexible grasping of the target object was achieved by driving a five-finger hand using this system.

Funder

Japan Society for the Promotion of Science

National Institute of Technology

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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