This paper introduces a novel underactuated anthropomorphic gripper for prosthetic applications. In order to extend the grasping capabilities of underactuated prosthetic grippers and improve the force transmission ratio, a mechanical lever is mounted inside the palm that allows a proper distribution of the forces and provides mechanical advantage. A static model is developed and the possibilities offered by the lever transmission are investigated. Also, a compact mechanism is introduced to synchronize the motion of the four fingers. Additionally, a mechanical selector is designed that functions as a means of mechanically programming the motion of the fingers by selectively blocking their closing motion. Finally, a prototype, including all the above features, is described and experimental validation is briefly reported.
On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper
Contributed by the Design Innovation and Devices of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received October 16, 2012; final manuscript received August 9, 2013; published online October 4, 2013. Assoc. Editor: Alexander Slocum.
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Baril, M., Laliberté, T., Gosselin, C., and Routhier, F. (October 4, 2013). "On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper." ASME. J. Mech. Des. December 2013; 135(12): 121008. https://doi.org/10.1115/1.4025493
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