This paper describes the design and performance of a new prosthetic hand capable of multiple grasp configurations, and capable of fingertip forces and speeds comparable to those used by healthy subjects in typical activities of daily living. The hand incorporates four motor units within the palm, which together drive sixteen joints through tendon actuation. Each motor unit consists of a brushless motor that drives one or more tendons through a custom two-way clutch and pulley assembly. After presenting the design of the prosthesis, the paper presents a characterization of the handβs performance. This includes its ability to provide eight grasp postures, as well as its ability to provide fingertip forces and finger speeds comparable to those described in the biomechanics literature corresponding to activities of daily living.
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e-mail: tuomas.wiste@gmail.com
e-mail: skyler.a.dalley@vanderbilt.edu
e-mail: atakan.varol@vanderbilt.edu
e-mail: michael.goldfarb@vanderbilt.edu
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September 2011
Research Papers
Design of a Multigrasp Transradial Prosthesis
Tuomas E. Wiste,
Tuomas E. Wiste
Department of Mechanical Engineering,
e-mail: tuomas.wiste@gmail.com
Vanderbilt University
, Nashville, TN 37235
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Skyler A. Dalley,
Skyler A. Dalley
Department of Mechanical Engineering,
e-mail: skyler.a.dalley@vanderbilt.edu
Vanderbilt University
, Nashville, TN 37235
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H. Atakan Varol,
H. Atakan Varol
Department of Mechanical Engineering,
e-mail: atakan.varol@vanderbilt.edu
Vanderbilt University
, Nashville, TN 37235
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Michael Goldfarb
Michael Goldfarb
Department of Mechanical Engineering,
e-mail: michael.goldfarb@vanderbilt.edu
Vanderbilt University
, Nashville, TN 37235
Search for other works by this author on:
Tuomas E. Wiste
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235e-mail: tuomas.wiste@gmail.com
Skyler A. Dalley
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235e-mail: skyler.a.dalley@vanderbilt.edu
H. Atakan Varol
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235e-mail: atakan.varol@vanderbilt.edu
Michael Goldfarb
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235e-mail: michael.goldfarb@vanderbilt.edu
J. Med. Devices. Sep 2011, 5(3): 031009 (7 pages)
Published Online: August 18, 2011
Article history
Received:
January 31, 2011
Revised:
June 8, 2011
Online:
August 18, 2011
Published:
August 18, 2011
Citation
Wiste, T. E., Dalley, S. A., Atakan Varol, H., and Goldfarb, M. (August 18, 2011). "Design of a Multigrasp Transradial Prosthesis." ASME. J. Med. Devices. September 2011; 5(3): 031009. https://doi.org/10.1115/1.4004653
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