On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper
- 4 October 2013
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 135 (12), 121008
- https://doi.org/10.1115/1.4025493
Abstract
This paper introduces a novel underactuated anthropomorphic gripper for prosthetic applications. In order to extend the grasping capabilities of underactuated prosthetic grippers and improve the force transmission ratio, a mechanical lever is mounted inside the palm that allows a proper distribution of the forces and provides mechanical advantage. A static model is developed and the possibilities offered by the lever transmission are investigated. Also, a compact mechanism is introduced to synchronize the motion of the four fingers. Additionally, a mechanical selector is designed that functions as a means of mechanically programming the motion of the fingers by selectively blocking their closing motion. Finally, a prototype, including all the above features, is described and experimental validation is briefly reported.Keywords
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