Performance Analysis of the Underactuated Finger for Adam’s Hand
The purpose of prosthetic hands is to replicate the functional capabilities of the human hand, allowing users to perform daily tasks effectively. The mechanical design of artificial fingers is a key factor in determining the overall performance of these prostheses. A novel solution in this field is...
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| Format: | Article |
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IEEE
2024-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10711179/ |
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| author | Andrea Grazioso Damiano Cosma Potenza Giovanni Antonio Zappatore Giulio Reina |
| author_facet | Andrea Grazioso Damiano Cosma Potenza Giovanni Antonio Zappatore Giulio Reina |
| author_sort | Andrea Grazioso |
| collection | DOAJ |
| description | The purpose of prosthetic hands is to replicate the functional capabilities of the human hand, allowing users to perform daily tasks effectively. The mechanical design of artificial fingers is a key factor in determining the overall performance of these prostheses. A novel solution in this field is the Adam Hand by BionIT Labs, which belongs to the family of underactuated, multiarticulated myoelectric prostheses. This paper presents a kinetostatic analysis of the Adam’s Hand finger, which utilizes a gear train as an underactuated transmission mechanism. A test bench is also introduced to experimentally measure the grasping force when the finger spans its entire working range, defined by a 90° rotation of the proximal and distal phalanx joints. The experimental results demonstrate good agreement with the theoretical predictions, yielding mean percentage errors of less than 4%, with maximum error of about 6%. The analytical and experimental results obtained from Adam’s hand are also compared with those of an alternative prosthesis, namely Bebionic, that is fully actuated. |
| format | Article |
| id | doaj-art-40f86eee800d4cd48e2a334627757afe |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-40f86eee800d4cd48e2a334627757afe2024-11-19T00:01:01ZengIEEEIEEE Access2169-35362024-01-011214949214950110.1109/ACCESS.2024.347724910711179Performance Analysis of the Underactuated Finger for Adam’s HandAndrea Grazioso0https://orcid.org/0009-0004-0626-9710Damiano Cosma Potenza1Giovanni Antonio Zappatore2Giulio Reina3https://orcid.org/0000-0003-1793-4419Department of Mechanics, Mathematics, and Management, Polytechnic University of Bari, Bari, ItalyDepartment of Mechanics, Mathematics, and Management, Polytechnic University of Bari, Bari, ItalyBionIT Laboratories, Soleto, ItalyDepartment of Mechanics, Mathematics, and Management, Polytechnic University of Bari, Bari, ItalyThe purpose of prosthetic hands is to replicate the functional capabilities of the human hand, allowing users to perform daily tasks effectively. The mechanical design of artificial fingers is a key factor in determining the overall performance of these prostheses. A novel solution in this field is the Adam Hand by BionIT Labs, which belongs to the family of underactuated, multiarticulated myoelectric prostheses. This paper presents a kinetostatic analysis of the Adam’s Hand finger, which utilizes a gear train as an underactuated transmission mechanism. A test bench is also introduced to experimentally measure the grasping force when the finger spans its entire working range, defined by a 90° rotation of the proximal and distal phalanx joints. The experimental results demonstrate good agreement with the theoretical predictions, yielding mean percentage errors of less than 4%, with maximum error of about 6%. The analytical and experimental results obtained from Adam’s hand are also compared with those of an alternative prosthesis, namely Bebionic, that is fully actuated.https://ieeexplore.ieee.org/document/10711179/Underactuated fingersrobotic handsprostheticsanalytical modeling and analysisexperimental testing and validation |
| spellingShingle | Andrea Grazioso Damiano Cosma Potenza Giovanni Antonio Zappatore Giulio Reina Performance Analysis of the Underactuated Finger for Adam’s Hand IEEE Access Underactuated fingers robotic hands prosthetics analytical modeling and analysis experimental testing and validation |
| title | Performance Analysis of the Underactuated Finger for Adam’s Hand |
| title_full | Performance Analysis of the Underactuated Finger for Adam’s Hand |
| title_fullStr | Performance Analysis of the Underactuated Finger for Adam’s Hand |
| title_full_unstemmed | Performance Analysis of the Underactuated Finger for Adam’s Hand |
| title_short | Performance Analysis of the Underactuated Finger for Adam’s Hand |
| title_sort | performance analysis of the underactuated finger for adam x2019 s hand |
| topic | Underactuated fingers robotic hands prosthetics analytical modeling and analysis experimental testing and validation |
| url | https://ieeexplore.ieee.org/document/10711179/ |
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