Publication
Design of a robotic hand with a biologically-inspired parallel actuation system for prosthetic applications
Conference Article
Conference
ASME International Design Engineering Technical Conference (IDETC)
Edition
2010
Pages
29-36
Doc link
http://dx.doi.org/10.1115/DETC2010-28418
File
Abstract
This paper presents the design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the behavior/strength space of the Flexor Digitorum Profundus (FDP) and the Flexor Digitorum Superficialis (FDS) muscles. The design separates the strength space of the FDS and FDP muscles into a lighter strength region where finer manipulation and general approach tasks are executed, and a higher strength region where the more robust grasps are achieved. Two parallel actuator types and kinematic structures are designed to complement the requirements of both strength space regions.
Categories
medical robotics.
Author keywords
robotic hand, prosthetics
Scientific reference
A.L. Crawford and A. Perez. Design of a robotic hand with a biologically-inspired parallel actuation system for prosthetic applications, 2010 ASME International Design Engineering Technical Conference, 2010, Montreal, Quebec, Canada, pp. 29-36.
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