Design and analysis of a cable actuated hand prosthesis is presented. The hand has multi-actuated fingers, four with two joints, and the thumb with three joints. Each joint is designed using a novel flexible mechanism based on the loading of a compression spring in both transverse and axial directions and using cable-conduit systems. The rotational motion is transformed to tendon-like behavior, which enables the location of the actuators to be far from the arm (e.g., on a belt around the waist). It is shown that the solution of the transverse deflection of each finger segment is obtained in a general form through a Haringx model followed by an element stiffness model. Also, we use a FEM model (ANSYS) to visualize the deflection of one finger. A prototypic finger is experimentally tested, results are verified, and the hand prosthesis is built.

This content is only available via PDF.
You do not currently have access to this content.