Abstract
The design of simple, cheap to produce with low maintenance cost prosthetic fingers can be very helpful for amputees with partial or complete finger amputation. The aim of this paper is providing an algorithm for optimal design of a one-DoF (degrees of freedom) prosthetic finger considering the kinematic and kinetic factors and validating the method with experiments. The considered mechanism consists of four-bar linkages designed by kinematic synthesis with three-accuracy-point approach. To provide the mechanism with strong resemblance to a normal finger, the accuracy points considered in design procedure are obtained through experimental data. Considering the size of the mechanism as a major constraint, the optimization problem is then defined as a cost function dependent on position errors and kinetic aspects of the mechanism (i.e., joint forces and torques). The designed mechanism is capable of holding circular objects of different diameters with an acceptably low error in comparison with the actual human finger motion. A 3D printed prototype is fabricated based on the proposed algorithm to examine its functionality. The desired trajectory of the grasping actions is gathered from a subject with amputated intermediate and distal phalanges of the index finger. Experimental data are obtained from the subject while holding circular objects of specific sizes. The performance of the fabricated mechanism is compared and discussed with regards to simulation results and the acquired data from the subject while performing similar tasks with the healthy finger.
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Rajestari, Z., Feizi, N., Taghvaei, S. et al. Optimal kinematic synthesis and fabrication of a one-DoF prosthetic finger. J Braz. Soc. Mech. Sci. Eng. 39, 2925–2934 (2017). https://doi.org/10.1007/s40430-017-0811-z
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DOI: https://doi.org/10.1007/s40430-017-0811-z