Hostname: page-component-745bb68f8f-b6zl4 Total loading time: 0 Render date: 2025-01-14T00:00:42.320Z Has data issue: false hasContentIssue false
  • English
  • Français

Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic applications

Published online by Cambridge University Press:  23 January 2015

Ting Zhang ,
Xin Qing Wang ,
Li Jiang ,
Xinyu Wu ,
Wei Feng ,
Dingjiang Zhou  and
Hong Liu
Ting Zhang
Affiliation:
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P. R. China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P. R. China
Xin Qing Wang
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P. R. China Institute of Mechanical & Electrical Engineering, China University of Petroleum, Qingdao, P. R. China
Li Jiang*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P. R. China
Xinyu Wu
Affiliation:
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P. R. China
Wei Feng
Affiliation:
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P. R. China
Dingjiang Zhou
Affiliation:
Multi-robot Systems Laboratory, Boston University, Boston, Massachusetts, USA
Hong Liu
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P. R. China
*
*Corresponding author. E-mail: zhangt.hit@gmail.com
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, we propose a biomechatronic design of an anthropomorphic artificial hand that is able to mimic the natural motion of human fingers. The prosthetic hand has 5 fingers and 15 joints, which are actuated by 5 embedded motors. Each finger has three phalanges that can fulfill flexion-extension movements independently. The thumb is specially designed to move along a cone surface when grasping, and the other four fingers are well developed based on the four-bar link mechanism to imitate the motion of the human finger. To accomplish the sophisticated control schemes, the fingers are equipped with numerous torque and position sensors. The mechanical parts, sensors, and motion control systems are integrated in the hand structure, and the motion of the hand can be controlled through electromyography (EMG) signals in real-time. A new concept for the sensory feedback system based on an electrical stimulator is also taken into account. The low-cost prosthetic hand is small in size (85% of the human hand), of low weight (420 g) and has a large grasp power (10 N on the fingertips), hence it has a dexterous and humanlike appearance. The performance of the prosthetic hand is validated in a clinical evaluation on transradial amputees.

Keywords

Anthropomorphic artificial handProsthetic handBiomechatronic designElectromyography control
Type
Articles
Information
Robotica , Volume 34 , Issue 10 , October 2016 , pp. 2291 - 2308
Copyright
Copyright © Cambridge University Press 2015 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Kawasaki, H., Komatsu, T. and Uchiyama, K., “Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II,” IEEE/ASME Trans. Mechatronics 7 (3), 296–303 (Sep. 2002).Google Scholar
2. Liu, H., Meusel, P., Hirzinger, G., Jin, M. H., Liu, Y. and Xie, Z. W., “The modular multisensory DLR-HIT-hand: Hardware and software architecture,” IEEE/ASME Trans. Mechatronics 13 (4), 461–469 (Aug. 2008).Google Scholar
3. Zollo, L., Roccella, S., Guglielmelli, E., Carrozza, M. C. and Dario, P., “Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic and robotic applications,” IEEE/ASME Trans. Mechatronics 12 (4), 418–429 (Aug. 2007).Google Scholar
4. Karnati, N., Kent, B. A. and Engeberg, E. D., “Bioinspired sinusoidal finger joint synergies for a dexterous robotic hand to screw and unscrew objects with different diameters,” IEEE/ASME Trans. Mechatronics 18 (2), 612–623 (Apr. 2013).Google Scholar
5. Takayama, T., Yamana, T. and Omata, T., “Three-fingered eight-DOF hand that exerts 100-N grasping force with force-magnification drive,” IEEE/ASME Trans. Mechatronics 17 (2), 218–227 (Apr. 2012).CrossRefGoogle Scholar
6. Deshpande, A. D., Xu, Z., Weghe, M. J. V., Brown, B. H., Ko, J., Chang, Lillian Y., Wilkinson, D. D., Bidic, S. M. and Matsuoka, Y., “Mechanisms of the anatomically correct testbed hand,” IEEE/ASME Trans. Mechatronics 18 (1), 238–250 (Feb. 2013).Google Scholar
7. Cipriani, C., Controzzi, M. and Carrozza, M. C., “Objectives, criteria and methods for the design of the SmartHand transradial prosthesis,” Robotica 28, 919–927 (2010).CrossRefGoogle Scholar
8. Schulz, S., Pylatiuk, C., Reischl, M., Martin, J., Mikut, R. and Bretthauer, G., “A hydraulically driven multifunctional prosthetic hand,” Robotica 23, 293–299 (2005).CrossRefGoogle Scholar
9. Kyberd, P., Light, C., Chappell, P. H., Nightingale, J. M., Whatley, D. and Evans, M., “The design of anthropomorphic prosthetic hands: A study of the southampton hand,” Robotica 19, 593–600 (2001).Google Scholar
10. Heim, W., “Microprocessor technology for powered upper extremity prosthetic control systems,” Robotica 23, 275–276 (2005).Google Scholar
11. Zhang, T., Fan, S. W., Liu, H. and Jiang, L., “Development and experiment analysis of anthropomorphic prosthetic hand with flexible three-axis tactile sensor,” Int. J. Humanoid Robot. 10 (3), 1350028–1–1350028–24 (2013).Google Scholar
12. Atkins, D. J., Heard, D. C. Y. and Donovan, W. H., “Epidemiologic overview of individuals with upper-Limb loss and their reported research priorities,” J. Prosthet. Orthot. 8 (1), 2–11 (1996).Google Scholar
13. Carrozza, M. C., Cappiello, G., Micera, S., Edin, B. B., Beccai, L. and Cipriani, C., “Design of a cybernetic hand for perception and action,” Biol. Cybern. 95, 629–644 (2006).Google Scholar
14. Cipriani, C., Controzzi, M. and Carrozza, M. C., “The SmartHand transradial prosthesis,” J. Neuroeng. Rehabil. 8, 8–29 (May 2011).Google Scholar
15. Gaiser, I. N., Pylatiuk, C., Schulz, S., Kargov, A., Oberle, R. and Werner, T., “The fluidhand III: A multifunctional prosthetic hand,” J. Prosthet. Orthot. 21, 91–96 (2009).Google Scholar
16. Dollar, A. M. and Howe, R. D., “The highly adaptive SDM Hand: Design and performance evaluation,” Int. J. Robot. Res. 29, 585–597 (2010).CrossRefGoogle Scholar
17. Palli, G., Borghesan, G. and Melchiorri, C., “Modeling, identification, and control of tendon-based actuation systems,” IEEE Trans. Robot. 28, 277–289 (2012).Google Scholar
18. Deshpande, A. D., Xu, Z., Weghe, M. J. V., Brown, B. H., Ko, J., Chang, L. Y. et al., “Mechanisms of the anatomically correct testbed hand,” IEEE/ASME Trans. Mechatronics 18, 238–250 (2013).Google Scholar
19. Dalley, S. A., Wiste, T. E., Withrow, T. J. and Goldfarb, M., “Design of a multifunctional anthropomorphic prosthetic hand with extrinsic actuation,” IEEE/ASME Trans. Mechatronics 14, 699–706 (2009).Google Scholar
20. Touch Bionics I-Limb Hand Brochure 2010, Available at http://www.touchbionics.com/docLibrary/i-LIMB%20Hand%20Brochure%202.0.pdf. (2010).Google Scholar
21. Touch Bionics I-Limb Pulse Hand Brochure 2011, Available at http://www.touchbionics.com/docLibrary/i-LIMB%20Pulse%20and%20BioSim%20Datasheets.pdf. (2011).Google Scholar
22. Vincent Systems, Vincent Hand, Availbe at http://handprothese.de/vincent-hand/.Google Scholar
23. RSL Steeper, Bebionic Hand Product Brochure, Availbe at http://www.bebionic.com/wp-content/uploads/bebionic-Product-Brochure-Final.pdf. (2013).Google Scholar
24. RSL Steeper, Bebionic v2 Hand Product Brochure, Available at http://www.rslsteeper.com/upload/files/153/ROW_Product_Brochure_RSLLIT294_issue_2.pdf.Google Scholar
25. Belter, J. T., Segil, J. and Dollar, A. M., “The mechanical design and performance specifications of anthropomorphic prosthetic hands,” J. Rehabil. Res. Dev., 599–618 (2012).Google Scholar
26. Biagiotti, L., Lotti, F., Melchiorri, C. et al., How Far is the Human Hand. A Review on Anthropomorphic Robotic End-Effectors, University of Bologna, Italy, (2009-04-05), Available at http://www-lar.deis.unibo.it/woda/data/deis-lar-publications/3cbd.Document.pdf.Google Scholar
27. Losier, Y., Clawson, A., Wilson, A., Scheme, E., Englehart, K., Kyberd, P. et al., “An Overview of the UNB Hand System,” Proceedings of the 2011 MyoElectric Controls/Powered Prosthetics Symposium Fredericton, New Brunswick, Canada, (2011).Google Scholar
28. Kuiken, T. A., Li, G., Lock, B. A., Lipschutz, R. D., Miller, L. A., Stubblefield, K. A. and Englehart, K., “Targeted muscle reinnervation for real-time myoelectric control of multifunction artificial arms,” JAMA-J. Am. Med. Assoc. 301 (6), 619–628 (2009).Google Scholar
29. Bitzer, S. and van der Smagt, P., “Learning EMG Control of a Robotic Hand: Towards Active Prostheses,” [C]//Proceedings of International Conference on Robotics and Automation, Orlando, Florida, USA: IEEE, (2006) pp. 2819–2823.Google Scholar
30. Castellini, C. and van der Smagt, P., “Surface EMG in advanced hand prosthetics,” Biol. Cybern. 100 (1), 35–47 (2009).Google Scholar
31. Massa, B., Rosella, S., Carrizozo, M. C. and Dario, P., “Design and Development of an Under-Actuated Prosthetic Hand,” Proceedings of the 2002 IEEE International Conference on Robotics and Automation, (2002) pp. 28–36.Google Scholar
32. Xu, D., Loeb, G. E. and Fishel, J. A., “Tactile Identification of Objects using Bayesian Exploration,” IEEE International Conference on Robotics and Automation (ICRA), 3056–3061 (2013).Google Scholar
33. Gonzalez, J., Soma, H., Sekine, M. and Yu, W., “Psycho-physiological assessment of a prosthetic hand sensory feedback system base on an auditory display: A preliminary study,” J. Neural Eng. Rehabil. 9, 9–33 (2012).Google Scholar
34. Otto Bock. Otto Bock MYOBOCK 13E200=50 electrodes [EB/OL]. [2009-07-20] Available at http://www.ottobock.com/cps/rde/xchg/obusen/hs.xsl/16573.html.Google Scholar
35. Netter, F. H., Atlas of Human Anatomy, 2nd ed. (Icon Learning Systems, Teterboro, New Jersey, 1997).Google Scholar
36. Buchholz, B. and Armstrong, T., “Ellipsoidal representation of humanhand anthropometry. Hum. Factors, 33 (4), 429–441 (1991).Google Scholar
37. Pons, J. L., Rocon, E. and Ceres, R., “The MANUS-HAND dextrous robotics upper limb prosthesis: mechanical and manipulation aspects,” Auton. Robot. 16 (2), 143–163 (2004).Google Scholar
38. Dechev, N., Cleghon, W. L. and Naumann, S., “Multi-Segmented Finger Design of An Experimental Prosthetic Hand,” Proceeding of Sixth National Applied Mechanisms and Robotics Conference, (1999), vol. 33, pp. 01–08.Google Scholar
39. Carrozza, M. C., “The SPRING hand: development of a self-adaptive prosthesis for restoring natural grasping. Auton. Robot. 16 (2), 125–141 (2004).Google Scholar
40. Yashima, M. and Yamaguchi, M., “Control of whole finger manipulation utilizing frictionless sliding contact–theory and experiment. Mech. Mach. Theory 34 (8), 1255–1269 (1999).Google Scholar
41. Zhang, T., Jiang, L. and Liu, H., “A novel grasping force control strategy for multi-fingered prosthetic hand,” J. Central South Univ. 19 (6), 1537–1542 (2012).Google Scholar
42. Zhang, T., Jiang, L., Fan, S. W., Wu, X. Y. and Feng, W., “Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping,” Robotica, Available at CJO2014. doi:10.1017/S0263574714002161. (2014).Google Scholar
43. Zhang, T., Liu, H., Jiang, L., Fan, S. and Yang, J., “Development of a flexible 3-D tactile sensor system for anthropomorphic artificial hand,” IEEE Sens. J. 13 (2), 510–518 (Feb. 2013).Google Scholar
44. Ohka, M., Mitsuya, Y., Higashioka, I. and Kabeshita, H., “An experimental optical three-axis tactile sensor for micro-robots,” Robotica 23, 457–465 (2005).Google Scholar
45. Ohka, M., Mitsuya, Y., Matsunaga, Y. and Takeuchi, S., “Sensing characteristics of an optical three-axis tactile sensor under combined loading,” Robotica 22, 213–221 (2004).CrossRefGoogle Scholar
46. Zhang, T., Jiang, Li, Wu, X., Feng, W., Zhou, D., and Liu, H., “Fingertip Three-Axis Tactile Sensor for Multifingered Grasping, IEEE/ASME Trans,” Mechatronics (2014) doi: 10.1109/TMECH.2014.2357793.Google Scholar