INTRODUCTION

The objective is to develop an artificial hand aimed at replicating the appearance and performance of the natural hand or to obtain a complete functional substitution of the natural hand. Main problems to be solved in order to improve the performance of prosthetic hands are: 1) lack of sensory information gives to the amputee 2) lack of natural command interface. 3) limited grasping capabilities 4) unnatural movements of fingers during grasping.

DESIGN OF THE BIOMECHATRONIC HAND

BIOMECHATRONIC DESIGN ARCHITECTURE OF THE BIOMECHATRONIC HAND ACTUATION SYSTEM

BIOMECHATRONIC DESIGN
The main requirements to be considered are: - cosmetics - controllability - noiselessness - lightness - low energy consumption

ARCHITECTURE OF THE BIOMECHATRONIC HAND

It uses small actuators (two of each finger) and micro motors instead of one single large actuator and motor.

ACTUATION SYSTEM
Heavy actuator system

Traditional actuators

One/two DOFs

Large forces

Low adaptability

Low grasp robustness

Little contact areas

Micro actuator system

Micro actuators

Small forces

Rise in DOFs

High grasp stability

High grasp stability

Rise in contact areas

SMOOVY Characteristics

Nominal force Maximum speed Weight

12N 20mm/s 3.2 g

Maximum load 40N (axial) Maximum load 25N (radial) Transmission rate 1:125 Gear stages 3

Kinematics architecture
The kinematics of each finger joints are: MP (Meta carpophalengal) joint

PIP (Proximal interphalengal) joint

DIP (Distal interphalengal) joint

HAND PROTOTYPE

POSITION AND FORCE SENSORS

SENSORS
1) Tactile sensors
2) Proximity and range sensors 3) Position sensors 4) Hall effect sensors

HALL EFFECT SENSORS

There are two basic forms of this sensor, LINEAR $ THRESHOLD.

SENSORS CHARACTERISATION
CHARACTERISATION OF POSITION SENSOR.
6 5

output voltage(v)

0 0 10 20 30 40 50 60 70 80 90 joint angle(degree)

CHARACTERIZATION OF FORCE SENSOR

CALIBRATION CURVE OF THE FORCE SENSOR

16 14 12 10 8 6 4 2 0 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8

OUTPUT VOLTAGE (V)

FORCE (N)

FINGERED TRIP FORCE ANALYSIS

FUTURE IMPROVEMENTS

Natural fingers movements during grasping and force sensor measurements should be further investigated.

CONCLUSION
The biomechatronic design approach can lead to the development of hand and prostheses. It requires low cost and low energy consumption for adequate autonomy (at least 8 hours between recharges).

THANK YOU