Medina-Coello Pablo, Salvador-Domínguez Blas, Badesa Francisco J, Rodríguez Corral José María, Plastrotmann Henrik, Morgado-Estévez Arturo
Applied Robotics Research Group (TEP-940), School of Engineering, University of Cadiz, 11519 Puerto Real, Spain.
Centre for Automation and Robotics (CAR) UPM-CSIC, Universidad Politecnica de Madrid (UPM), 28040 Madrid, Spain.
Biomimetics (Basel). 2024 Jul 2;9(7):401. doi: 10.3390/biomimetics9070401.
The use of both hands is a common practice in everyday life. The capacity to interact with the environment is largely dependent on the ability to use both hands. A thorough review of the current state of the art reveals that commercially available prosthetic hands designed for children are very different in functionality from those developed for adults, primarily due to prosthetic hands for adults featuring a greater number of actuated joints. Many times, patients stop using their prosthetic device because they feel that it does not fit well in terms of shape and size. With the idea of solving these problems, the design of HandBot-Kid has been developed with the anthropomorphic qualities of a child between the ages of eight and twelve in mind. Fitting the features of this age range, the robotic hand has a length of 16 cm, width of 7 cm, thickness of 3.6 cm, and weight of 328 g. The prosthesis is equipped with a total of fifteen degrees of freedom (DOF), with three DOFs allocated to each finger. The concept of design for manufacturing and assembly (DFMA) has been integrated into the development process, enabling the number of parts to be optimized in order to reduce the production time and cost. The utilization of 3D printing technology in conjunction with aluminum machining enabled the manufacturing process of the robotic hand prototype to be streamlined. The flexion-extension movement of each finger exhibits a trajectory that is highly similar to that of a real human finger. The four-bar mechanism integrated into the finger design achieves a mechanical advantage (MA) of 40.33% and a fingertip pressure force of 10.23 N. Finally, HandBot-Kid was subjected to a series of studies and taxonomical tests, including Cutkosky (16 points) and Kapandji (4 points) score tests, and the functional results were compared with some commercial solutions for children mentioned in the state of the art.
双手并用是日常生活中的常见做法。与环境互动的能力在很大程度上取决于双手的使用能力。对当前技术水平的全面回顾表明，为儿童设计的市售假手在功能上与为成人开发的假手有很大不同，主要是因为成人假手具有更多的驱动关节。很多时候，患者会停止使用他们的假肢设备，因为他们觉得它在形状和尺寸方面不太合适。为了解决这些问题，HandBot-Kid的设计在开发时考虑了8至12岁儿童的拟人化特征。符合这个年龄范围的特点，该机械手长度为16厘米，宽度为7厘米，厚度为3.6厘米，重量为328克。该假肢总共配备了十五个自由度（DOF），每个手指分配三个自由度。制造和装配设计（DFMA）的概念已被整合到开发过程中，从而能够优化零件数量以减少生产时间和成本。3D打印技术与铝加工的结合使机械手原型的制造过程得以简化。每个手指的屈伸运动呈现出与真实人类手指高度相似的轨迹。集成在手指设计中的四杆机构实现了40.33%的机械优势（MA）和10.23 N的指尖压力。最后，HandBot-Kid进行了一系列研究和分类测试，包括Cutkosky（16分）和Kapandji（4分）评分测试，并将功能结果与现有技术中提到的一些儿童商业解决方案进行了比较。
