Grasping Ability and Motion Synergies in Affordable Tendon-Driven Prosthetic Hands Controlled by Able-Bodied Subjects
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Título
Grasping Ability and Motion Synergies in Affordable Tendon-Driven Prosthetic Hands Controlled by Able-Bodied SubjectsFecha de publicación
2020-08-26Editor
Frontiers MediaCita bibliográfica
LLOP-HARILLO, Immaculada; PÉREZ-GONZÁLEZ, Antonio; ANDRÉS-ESPERANZA, Javier. Grasping Ability and Motion Synergies in Affordable Tendon-Driven Prosthetic Hands Controlled by Able-Bodied Subjects. Frontiers in Neurorobotics, 2020, v. 14, p. 57.Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
https://www.frontiersin.org/articles/10.3389/fnbot.2020.00057/fullVersión
info:eu-repo/semantics/publishedVersionPalabras clave / Materias
Resumen
Affordable 3D-printed tendon-driven prosthetic hands are a rising trend because of
their availability and easy customization. Nevertheless, comparative studies about the
functionality of this kind of prostheses are ... [+]
Affordable 3D-printed tendon-driven prosthetic hands are a rising trend because of
their availability and easy customization. Nevertheless, comparative studies about the
functionality of this kind of prostheses are lacking. The tradeoff between the number
of actuators and the grasping ability of prosthetic hands is a relevant issue in their
design. The analysis of synergies among fingers is a common method used to reduce
dimensionality without any significant loss of dexterity. Therefore, the purpose of this
study is to assess the functionality and motion synergies of different tendon-driven hands
using an able-bodied adaptor. The use of this adaptor to control the hands by means of
the fingers of healthy subjects makes it possible to take advantage of the human brain
control while obtaining the synergies directly from the artificial hand. Four artificial hands
(IMMA, Limbitless, Dextrus v2.0, InMoov) were confronted with the Anthropomorphic
Hand Assessment Protocol, quantifying functionality and human-like grasping. Three
subjects performed the tests by means of a specially designed able-bodied adaptor that
allows each tendon to be controlled by a different human finger. The tendon motions
were registered, and correlation and principal component analyses were used to obtain
the motion synergies. The grasping ability of the analyzed hands ranged between 48
and 57% with respect to that of the human hand, with the IMMA hand obtaining the
highest score. The effect of the subject on the grasping ability score was found to be
non-significant. For all the hands, the highest tendon-pair synergies were obtained for
pairs of long fingers and were greater for adjacent fingers. The principal component
analysis showed that, for all the hands, two principal components explained close to or
more than 80%of the variance. Several factors, such as the friction coefficient of the hand
contact surfaces, limitations on the underactuation, and impairments for a correct thumb
opposition need to be improved in this type of prostheses to increase their grasping
stability. The principal components obtained in this study provide useful information for
the design of transmission or control systems to underactuate these hands. [-]
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Frontiers in Neurorobotics, 2020, v. 14Derechos de acceso
info:eu-repo/semantics/openAccess
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