Yan Yadong, Wang Yu, Chen Xiangqian, Shi Chao, Yu Jiazheng, Cheng Chang
Annu Int Conf IEEE Eng Med Biol Soc. 2020 Jul;2020:4951-4954. doi: 10.1109/EMBC44109.2020.9175357.
In the current research of prosthetic hands, many degrees of freedom have been omitted in order to simplify the design and reduce the weight, such as the abduction degrees of freedom of the four fingers except the thumb, which impairs the range of mobility of the prosthetic hand to some extent. This paper presents TN hand, a 3D printed, tendon-driven prosthetic hand. We use continuum structure as the finger joint. The other four fingers except the middle finger can perform flexion/extension and abduction/adduction movements, which benefits hand mobility. The design and manufacture of the fingers were elaborated and the finger stiffness was tested through experiment. Then the ability of manipulating daily objects of TN hand was verified based on hand taxonomy. In addition, there is enough range of mobility for the TN hand to perform column chords due to the ability to abduct fingers.
在当前的假肢手研究中，为了简化设计和减轻重量，许多自由度被省略了，比如除拇指外其余四指的外展自由度，这在一定程度上损害了假肢手的活动范围。本文提出了TN手，一种3D打印的、肌腱驱动的假肢手。我们采用连续体结构作为手指关节。除中指外的其他四指能够进行屈伸和内收外展运动，这有利于手部的灵活性。详细阐述了手指的设计与制造，并通过实验测试了手指的刚度。然后基于手部分类法验证了TN手操作日常物品的能力。此外，由于手指具有外展能力，TN手有足够的活动范围来执行柱式和弦。
