A New Model to Bionic Hand Prosthesis with Individual Fingers Actuators

Abstract

Considering human mobility, the hand assumes great importance due to its versatility and ability to manipulate objects. However, many people do not have this limb, due to either malformation or amputation, which makes it difficult to perform daily activities. This research presents the development of the mechanical structure of a hand prosthesis where the fingers are individually actuated. For this, the mathematical model that describes the movement of the robotic finger is detailed. A kinematic study of finger movement is performed, as well as a computer simulation for the proposed mechanical structure. The model simulations showed a good effectiveness of the proposed model, and all the component parts of the prosthesis were designed in a parameterized way so that the model can be adapted to the physical dimensions of the user.