Prosthetic Hand Design Experiments

Title: Seven Benefits of Using Series Elastic Actuators in the Design of an Affordable, Simple Controlled, and Functional Prosthetic Hand

This video demonstrates the innovative design and functionality of a 3D-printed prosthetic hand developed using series elastic actuators (SEA). Our research, conducted at the Research Institute for Robotics, Artificial Intelligence, and Information Science (RAIIS Lab), explores how SEA technology enables cost-effective, easily controlled, and highly functional prosthetic devices.

Key Features of the Prosthetic Hand:

Series Elastic Actuators (SEA): Utilized in an antagonistic configuration with two motors, ensuring precise control and efficient performance.
Design and Control: The hand's underactuated design includes adjustable thumbs and optimized pulley diameters for synchronized finger movements during flexion and extension.
Functional Capabilities: Simple motor position control enables features like hand position control, morphological grasp, force control, impedance control, slippage detection, safe interaction, and efficient grasp.
Experiment Overview: This video showcases a series of experiments conducted to evaluate the performance of the prosthetic hand. The results confirm the hand’s effective operation and highlight areas for future improvement, such as minimizing friction in cables and joints, enhancing sensor resolution, and integrating a motor brake system for more efficient grasping.

Authors: Erfan Koochakzadeh, Alireza Kargar, Parsa Sattari, Diba Ravanshid, and Rezvan Nasiri*

Conference: This work has been accepted for presentation at IROS 2024.

Subscribe:

Connect with us:
LinkedIn: @raiis-lab

[shahabhosseini]

Amazing innovation! I hope we can use it in a portable manner at home to perform our daily tasks using an EEG module for transcription. With this advancement, tasks that once seemed challenging could become effortless and intuitive.

[amirgharghabi]

Wow well done.
How can I access the full paper?