Design of a mechanical system for underactuation of hand prostheses
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Mostrar el registro completo del ítemcomunitat-uji-handle:10234/158176
comunitat-uji-handle2:10234/71324
comunitat-uji-handle3:10234/107062
comunitat-uji-handle4:
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Título
Design of a mechanical system for underactuation of hand prosthesesAutoría
Tutor/Supervisor; Universidad.Departamento
Pérez González, Antonio; Llop Harillo, Immaculada; Universitat Jaume I. Departament d'Enginyeria Mecànica i ConstruccióFecha de publicación
2022-11-25Editor
Universitat Jaume IResumen
The project has been developed working with the Biomechanics and Ergonomics
research group in the framework of the UNIQUE-HAND project that has as final objective the
creation of viable artificial hands valid as ... [+]
The project has been developed working with the Biomechanics and Ergonomics
research group in the framework of the UNIQUE-HAND project that has as final objective the
creation of viable artificial hands valid as prostheses for individuals and also as robotic hands
for industry, as well as the improvement of aesthetics of prior designs, allowing people to wear
their prostheses with more confidence and trying the designs to go unnoticed.
As mentioned above, the specific objective of this FDP is to design a mechanical
underactuation system that improves weak points of previous developments and tries to
reproduce as faithfully as possible the different hand grasps used by healthy people during
activities of daily living. This mechanical system must be designed in order to be manufactured
using the fused deposition modelling (FDM) 3D printing technique [2] and will be fitted into a
completely new designed hand prototype which houses this underactuation system, the design
of which is also reflected in this paper. The design of the prosthesis includes fingers, joints,
returning system, flexion system, abduction and adduction of the thumb and palmar structure
of the hand. This new system will be tested in the laboratory by carrying out two essays, one of
them will be a grasping test and the other will be the water bottle test (WBT) that will be
explained further in the paper and the other will be the Anthropomorphic Hand Assessment
Protocol (AHAP) [3].
The presented design is based on differential mechanisms, such as pulleys and
whiffletree mechanisms and will be explained in further detail later on. The design of the
prosthetic hand has been based on the scan of a real human hand and then modified in order to
adapt the different proportions and finger orientations, as well as the different mechanisms that
allow the flexion and extension of the hand as mentioned above.
The actuation of the different cables that allow the movement of the hand will be
obtained by using a bowden cable together with a harness and triceps cuff system and the
prosthesis will be located just below the tested subject hand, thus allowing a more natural
behaviour when making grasps.
This project contains the design of the underactuation mechanical system and its
manufacture using a 3D printer. Furthermore, there are details about the assembly process and
the different components of the design. Eventually, there is an explanation of the tests that will
be carried out, which will determine the performance of the system, and the obtained results
from these tests. [-]
Palabras clave / Materias
Descripción
Treball Final de Grau en Enginyeria Mecànica. Codi: EM1047. Curs acadèmic: 2021/2022
Tipo de documento
info:eu-repo/semantics/bachelorThesisDerechos de acceso
info:eu-repo/semantics/openAccess