Affiliation:
1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P. R. China
Abstract
In this paper, a novel underactuated prosthetic finger with a compliant driving mechanism is proposed. The underactuated finger is based on linkage mechanism and spring elements within the compliant driving mechanism. The proposed finger mechanism is able to obtain human-like operations. The feasibility of the mechanism is verified through suitable kinematic and static analysis. The structure parameters and the coefficient of the springs are calculated according to the requirements of human-like operations. Finally, we experimentally validate the reasonability of design results and demonstrate that the finger grasps objects in diverse ways.
Publisher
World Scientific Pub Co Pte Lt
Subject
Artificial Intelligence,Mechanical Engineering
Cited by
6 articles.
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