Controzzi Marco, Clemente Francesco, Barone Diego, Ghionzoli Alessio, Cipriani Christian
IEEE Trans Neural Syst Rehabil Eng. 2017 May;25(5):459-468. doi: 10.1109/TNSRE.2016.2578980. Epub 2016 Jun 9.
The replacement of a missing hand by a prosthesis is one of the most fascinating challenges in rehabilitation engineering. State of art prostheses are curtailed by the physical features of the hand, like poor functionality and excessive weight. Here we present a new multi-grasp hand aimed at overcoming such limitations. The SSSA-MyHand builds around a novel transmission mechanism that implements a semi-independent actuation of the abduction/adduction of the thumb and of the flexion/extension of the index, by means of a single actuator. Thus, with only three electric motors the hand is capable to perform most of the grasps and gestures useful in activities of daily living, akin commercial prostheses with up to six actuators, albeit it is as lightweight as conventional 1-Degrees of Freedom prostheses. The hand integrates position and force sensors and an embedded controller that implements automatic grasps and allows inter-operability with different human-machine interfaces. We present the requirements, the design rationale of the first prototype and the evaluation of its performance. The weight (478 g), force (31 N maximum force at the thumb fingertip) and speed of the hand (closing time: <370 ms), make this new design an interesting alternative to clinically available multi-grasp prostheses.
用假肢替代缺失的手是康复工程中最具吸引力的挑战之一。目前的假肢受到手部物理特性的限制，比如功能不佳和重量过大。在此，我们展示一种旨在克服这些局限的新型多抓握手。SSSA - MyHand围绕一种新型传动机构构建，该机构借助单个致动器实现拇指外展/内收以及食指屈伸的半独立驱动。因此，仅用三个电动马达，这只手就能执行大部分在日常生活活动中有用的抓握和手势动作，类似于具有多达六个致动器的商用假肢，尽管它的重量与传统单自由度假肢一样轻。这只手集成了位置和力传感器以及一个嵌入式控制器，该控制器可实现自动抓握并允许与不同的人机接口互操作。我们介绍了需求、首个原型的设计原理及其性能评估。这只手的重量（478克）、力量（拇指指尖最大力为31牛）和速度（闭合时间：<370毫秒），使这种新设计成为临床可用多抓握假肢的一个有趣替代方案。
