NDLI: Design of an Underactuated Finger With a Monolithic Structure and Largely Distributed Compliance

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Steutel, Peter Gert, A. Kragten Just, L. Herder
Copyright Year	2010
Abstract	Many existing problems in conventional prosthetic fingers are related to the use of rigid links and kinematic joints and to the lack of adaptability of the finger. In this paper these problems are addressed by proposing a new design of a fully compliant underactuated prosthetic finger. First a general topology was defined. Subsequently a Pseudo Rigid Body method was used for a type synthesis and rough dimensional analysis in order to determine the conceptual design. In order to evaluate the grasping behavior of the conceptual design, four mock-ups were created. Detailed dimensional design was performed by a semi-automatic numerical analysis using a finite element method. A prototype based on this final design was manufactured and experimentally evaluated. It was found that the combination of underactuation and compliance is promising for the design of simple adaptive prosthetic fingers. As a result of the design process and the use of a predefined structure a fully compliant under-actuated finger with a monolithic structure and largely distributed compliance was obtained. The design shows potential of being applied in the field of prosthetics as well as robotic graspers.
Sponsorship	Design Engineering Division and Computers in Engineering Division
Starting Page	355
Ending Page	363
Page Count	9
File Format	PDF
ISBN	9780791844106
DOI	10.1115/DETC2010-28127
e-ISBN	9780791838815
Volume Number	Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2010-08-15
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Compliance Self-adaptation Fingers Monolithic structure Prosthetics Underactuation Artificial limbs Prostheses Grasping Surface roughness Topology Finite element methods Robotics Design Numerical analysis Dimensional analysis Kinematics Conceptual design Engineering prototypes
Content Type	Text
Resource Type	Article

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