Our long term goal is to develop a new generation of robotic-prosthetic hands that will incorporate key anatomical features of the human hand, especially, the passive dynamics defined by the joint stifftness and damping properties. This paper presents a design of a mechanism that can measure the passive moment of the human hand joint. We designed a motor-driven system, integrating a noninvasive and infrared motion capture system, that can control and record the angle, angular velocity and passive forces of the metacarpophalangeal (MCP) joint in the index finger. A total of 19 subjects participated in the experiments. We conducted two experiments to estimate the total passive moments of the MCP joint from the human subjects. The results showed that the novel design of the mechanism collected the precise passive moments and kinematic data, thus allowing us to develop a comprehensive understanding of the passive properties of the human hand joints.
- Design Engineering Division and Computers and Information in Engineering Division
Design of a Motor-Driven Mechanism to Conduct Experiments to Determine the Passive Joint Properties of the Human Index Finger
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Kuo, P, Hayes, J, & Deshpande, AD. "Design of a Motor-Driven Mechanism to Conduct Experiments to Determine the Passive Joint Properties of the Human Index Finger." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 615-622. ASME. https://doi.org/10.1115/DETC2011-48009
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