CIE-Hand towards Prosthetic Limb

Jakub Tomczyński; Tomasz Mańkowski; Krzysztof Walas; Piotr Kaczmarek

doi:10.1007/978-3-319-15847-1_27

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Title

CIE-Hand towards Prosthetic Limb

Authors

Jakub Tomczyński (WE) ^{[ 1 ][ D ]}
Tomasz Mańkowski (WE) ^{[ 1 ][ D ]}
Krzysztof Walas (WE) ^{[ 2 ][ P ]}
Piotr Kaczmarek (WE) ^{[ 2 ][ P ]}

^{[ 1 ]} Wydział Elektryczny, Politechnika Poznańska | ^{[ 2 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ D ]} phd student | ^{[ P ]} employee

Year of publication

2015

Chapter type

chapter in monograph

Publication language

english

Keywords

EN

hand prosthesis
synergy
underactuation
CIE-hand

Abstract

EN In this paper design of a compliant anthropomorphic five-finger gripper is presented. The device is intended to be used as a basis for a hand prosthesis development. Influence of the gripper underactuation on grasping capabilities was evaluated. In a series of tests, forces exerted on a manipulated objects were measured. It has been proven, that the gripper compliance significantly reduces forces required to perform secure grasps. Software synergies which are leading to dimensionality reduction of the input vector are presented. Their use allows to control an execution of basic grasp types using only two-dimensional control space.

Pages (from - to)

275 - 284

DOI

10.1007/978-3-319-15847-1_27

URL

https://link.springer.com/chapter/10.1007/978-3-319-15847-1_27

Book

Progress in Automation, Robotics and Measuring Techniques : Volume 2 Robotics

Presented on

International Conference on Automation, ICA 2015, 18-20.03.2015, Warsaw, Poland

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