Bennett Daniel A, Dalley Skyler A, Goldfarb Michael
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37240, USA.
Annu Int Conf IEEE Eng Med Biol Soc. 2012;2012:3044-7. doi: 10.1109/EMBC.2012.6346606.
This paper presents the design of an anthropomorphic prosthetic hand that provides both precision and conformal grasp capability. Specifically, the design of the hand dedicates three actuators in a direct-drive manner to achieving precision grasp capability. The design additionally dedicates one actuator and six degrees of freedom, in addition to a compliant coupling, to providing a conformal grasping capability to the amputee. The design of the hand is described in this paper, and the various degrees of actuation are characterized with respect to grasp forces and finger speeds.
本文介绍了一种具有精确抓握和贴合抓握能力的拟人化假手设计。具体而言，该假手设计采用直接驱动方式使用三个致动器来实现精确抓握能力。此外，除了柔顺耦合外，该设计还使用一个致动器和六个自由度为截肢者提供贴合抓握能力。本文描述了该假手的设计，并针对抓握力和手指速度对各种驱动程度进行了表征。
