The Octa Hand: An Affordable Multi-Grasping 3D-Printed Robotic Prosthesis for Transradial Amputees

• Autores: Abarca V.E., Flores K.M., Elias D.
• Formato: artículo
• Fecha de Publicación: 2019
• Institución: Consejo Nacional de Ciencia Tecnología e Innovación
• Repositorio: CONCYTEC-Institucional
• Lenguaje: inglés
• OAI Identifier: oai:repositorio.concytec.gob.pe:20.500.12390/2715
• Enlace del recurso: https://hdl.handle.net/20.500.12390/2715; https://doi.org/10.1109/ICCAR.2019.8813417
• Nivel de acceso: acceso abierto
• Materia: transradial amputee; 3D printed; prosthesis arm; http://purl.org/pe-repo/ocde/ford#2.02.03

This work describes the development of a prosthesis hand prototype with an active wrist. The Octa Hand can perform at least six grasping shapes: rest, tip, tripod, power, spherical and extension. Cables and pulley mechanism was used on each finger to enable the flexion/extension and under-actuated abduction/adduction movement while worm drive and internal helical gear mechanisms were used on the wrist to enable the flexion/extension and pronation/supination movements. To obtain an anthropomorphic, compact, low-weight and low-cost result, the prototype was designed based on a CAD model using 3D scanner technology, and the prototype was manufactured with 3D printed technology with a total weight of 950g. A control algorithm was tested for speed and fingertips force evaluation of each degree of freedom and the force in the fingertips. As a result, the average speed of the fingers was 140 deg/s and the average force of each finger was 4.6N. © 2019 IEEE.