Hocaoglu Elif, Patoglu Volkan
Faculty of Engineering and Natural Sciences, Sabancı University, Istanbul, Turkey.
School of Engineering and Natural Sciences, Istanbul Medipol University, Istanbul, Turkey.
Front Neurorobot. 2022 Mar 10;16:789210. doi: 10.3389/fnbot.2022.789210. eCollection 2022.
We present the design, implementation, and experimental evaluation of a low-cost, customizable, easy-to-use transradial hand prosthesis capable of adapting its compliance. Variable stiffness actuation (VSA) of the prosthesis is based on antagonistically arranged tendons coupled to nonlinear springs driven through a Bowden cable based power transmission. Bowden cable based antagonistic VSA can, not only regulate the stiffness and the position of the prosthetic hand but also enables a light-weight and low-cost design, by the opportunistic placement of motors, batteries, and controllers on any convenient location on the human body, while nonlinear springs are conveniently integrated inside the forearm. The transradial hand prosthesis also features tendon driven underactuated compliant fingers that allow natural adaption of the hand shape to wrap around a wide variety of object geometries, while the modulation of the stiffness of their drive tendons enables the prosthesis to perform various tasks with high dexterity. The compliant fingers of the prosthesis add inherent robustness and flexibility, even under impacts. The control of the variable stiffness transradial hand prosthesis is achieved by an sEMG based natural human-machine interface.
我们展示了一种低成本、可定制、易于使用的经桡骨手部假肢的设计、实现及实验评估，该假肢能够适应其柔顺性。假肢的可变刚度驱动（VSA）基于通过基于鲍登电缆的动力传输驱动的非线性弹簧耦合的对抗布置肌腱。基于鲍登电缆的对抗性VSA不仅可以调节假手的刚度和位置，还通过将电机、电池和控制器 opportunistic 放置在人体上任何方便的位置实现了轻量化和低成本设计，而非线性弹簧则方便地集成在前臂内部。经桡骨手部假肢还具有肌腱驱动的欠驱动柔顺手指，可使手自然适应各种物体几何形状进行包裹，同时对其驱动肌腱刚度的调节使假肢能够以高灵巧性执行各种任务。假肢的柔顺手指即使在受到冲击时也增加了固有的鲁棒性和灵活性。可变刚度经桡骨手部假肢的控制通过基于表面肌电信号的自然人机接口实现。
