Underactuated five-finger prosthetic hand inspired by grasping force distribution of humans

Yasuhisa Kamikawa, Takashi Maeno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

79 Citations (Scopus)

Abstract

Simple grippers with one or two degrees of freedom are commercially available prosthetic hands; these pinch type devices cannot grasp small cylinders and spheres because of their small degree of freedom. This paper presents the design and prototyping of underactuated five-finger prosthetic hand for grasping various objects in daily life. Underactuated mechanism enables the prosthetic hand to move fifteen compliant joints only by one ultrasonic motor. The innovative design of this prosthetic hand is the underactuated mechanism optimized to distribute grasping force like those of humans who can grasp various objects robustly. Thanks to human like force distribution, the prototype of prosthetic hand could grasp various objects in daily life and heavy objects with the maximum ejection force of 50 N that is greater than other underactuated prosthetic hands.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages717-722
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

    Fingerprint

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kamikawa, Y., & Maeno, T. (2008). Underactuated five-finger prosthetic hand inspired by grasping force distribution of humans. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 717-722). [4650628] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650628