Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Improvement of an Underactuated Prosthetic Hand Based on Grasp Performance Evaluation

파지성능 평가에 기반한 의수용 핸드의 설계 개선

  • Received : 2015.11.30
  • Accepted : 2016.07.04
  • Published : 2016.10.01
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Abstract

It has been shown that the adaptive grasp feature can be implemented by underactuated robotic hands with a minimal number of actuators. Following this approach, a new design of prosthetic hand is presented. A method is proposed for evaluating grasp performance using cylinders, spheres, and square bars of various sizes. The effects of the major design parameters were investigated experimentally and an improved design is proposed.

과소 구동기구 로봇 핸드에서 최소한의 구동기만으로 적응 파지 기능을 구현할 수 있는 것으로 알려져 있다. 이러한 연구결과를 기반으로 새로운 의수의 설계를 제안하였다. 또한 다양한 크기의 원통형, 구형, 사각 기둥 형 물체에 대한 의수의 파지 성능을 평가하는 방법을 제시하였다. 중요 설계 인자들이 파지 성능에 미치는 영향을 실험계획법으로 평가하고 개선된 설계 방안을 제시하였다.

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References

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