Omarkulov Nurdos, Telegenov Kuat, Zeinullin Maralbek, Begalinova Ainur, Shintemirov Almas
Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:2474-7. doi: 10.1109/EMBC.2015.7318895.
This paper presents the design of a linkage based finger mechanism ensuring extended range of anthropomorphic gripping motions. The finger design is done using a path-point generation method based on geometrical dimensions and motion of a typical index human finger. Following the design description, and its kinematics analysis, the experimental evaluation of the finger gripping performance is presented using the finger 3D printed prototype. The finger underactuation is achieved by utilizing mechanical linkage system, consisting of two crossed four-bar linkage mechanisms. It is shown that the proposed finger design can be used to design a five-fingered anthropomorphic hand and has the potential for upper limb prostheses development.
本文介绍了一种基于连杆机构的手指机构设计，该设计确保了拟人化抓握动作的更大范围。手指设计采用基于典型人类食指几何尺寸和运动的路径点生成方法。在完成设计描述及其运动学分析之后，使用3D打印的手指原型对手指抓握性能进行了实验评估。手指的欠驱动通过利用由两个交叉四杆连杆机构组成的机械连杆系统来实现。结果表明，所提出的手指设计可用于设计五指拟人化手，并且具有上肢假肢开发的潜力。
