Abstract

QUINAYAS-BURGOS, César Augusto; MUNOZ-ANASCO, Mariela; VIVAS-ALBAN, Óscar Andrés  and  GAVIRIA-LOPEZ, Carlos Alberto. Design and Construction of the Robotic Hand Prosthesis UC-1. Ing. Univ. [online]. 2010, vol.14, n.2, pp.223-237. ISSN 0123-2126.

This article shows the steps followed in the design and construction of the prosthetic right hand UC-1. This device was designed based on a tree structure: three fingers with a range of three degrees for each finger. The operation and control of the prosthesis was tested in simulation, and then a prototype of a multi-articulated finger was designed and built. It was small and compact, and could be easily integrated into a palm structure in order to make a polymorphic hand. After the validated finger was completed, three finger prostheses were built. Analog Hall and force sensors were added to provide sensitivity to the hand, as well as a DSP control system which was managed through Labview^®. The goal is to obtain a first prototype that can offer a functional solution to hand amputees, offering a number of grasping movements, as well as cylindrical, spherical, lateral and hook grasping.

Keywords : Prosthetic hand; robotic hand; rehabilitation robotics; anthropomorphic finger.

        · abstract in Spanish | Portuguese     · text in Spanish     · Spanish ( pdf )