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Mechanical design for the fingers, where r is the pulley's radius; and θ, the gearhead shaft's angular position.

Mechanical design for the fingers, where r is the pulley's radius; and θ, the gearhead shaft's angular position.

Source publication
Conference Paper
Full-text available
Controlling different characteristics like force, speed and position is a relevant aspect in assistive robotics, because their interaction with diverse, common, everyday objects is divergent. Usual approaches to solve this issue involve the implementation of sensors; however, the unnecessary use of such devices increases the prosthetics’ prices in...

Contexts in source publication

Context 1
... and UTD myoelectric upper-limb prosthesis for transradial amputees, whose intrinsic design allows for individual finger control [31,32]. These digits are conformed by three phalanges: distal, proximal and middle; as well as three joints: distal and proximal interphalangeal (DIP and PIP) and the metacarpophalangeal (MCP) one (illustrated in Fig. 1). Thus, each finger possesses 3 degrees of freedom (DOF); but, since each one is operated by a single motor, only one degree of actuation (DOA). Such a system permits the extension and flexion of each member by operating its two tendons; an active and a passive one, which run along the internal canals inside the finger (the blue ...
Context 2
... 1). Thus, each finger possesses 3 degrees of freedom (DOF); but, since each one is operated by a single motor, only one degree of actuation (DOA). Such a system permits the extension and flexion of each member by operating its two tendons; an active and a passive one, which run along the internal canals inside the finger (the blue sections in Fig. 1). The first one consists of a waxed nylon cord extended along the finger's dorsal side, which is actuated by a brushed DC motor with a gear ratio of 250:1; thus, generating a positive tensile force, f ta , that flexes the finger. The second one is composed by a round, surgical-grade elastic going through the duct inside the digit's ...

Citations

Article
Full-text available
The complexity of the user interfaces and the operating modes present in numerous assistive devices, such as intelligent prostheses, influence patients to shed them from their daily living activities. A methodology to evaluate how diverse aspects impact the workload evoked when using an upper-limb bionic prosthesis for unilateral transradial amputees is proposed and thus able to determine how user-friendly an interface is. The evaluation process consists of adapting the same 3D-printed terminal device to the different user-prosthesis-interface schemes to facilitate running the tests and avoid any possible bias. Moreover, a study comparing the results gathered by both limb-impaired and healthy subjects was carried out to contrast the subjective opinions of both types of volunteers and determines if their reactions have a significant discrepancy, as done in several other studies.