Development of Self-Powered 5-Finger Pneumatically Driven Hand Prosthesis Using Supination of Forearm

Kotaro Nishikawa, Kentaro Hirata, Masahiro Takaiwa

Research output: Contribution to journalArticlepeer-review

Abstract

Recently, myoelectric hand prostheses produced by the combination of 3D-CAD and printer have gained attention. 3D printing of hand prosthesis has resulted in cost reduction. However, when an electric actuator with reduction gears is used as the driving source of the hand prosthesis, the joint rigidity becomes high; therefore, compliance control is required to grasp soft target objects. In this study, we propose a pneumatically driven hand prosthesis using a flexible bellows actuator. The hand prosthesis is lightweight and inexpensive because it is self-powered and generates com-pressed air through the supination motion of the user’s forearm instead of an external compressor, which is essential for conventional pneumatic systems. Stable flexible grasping of the target object was achieved by driving a five-finger hand using this system.

Original languageEnglish
Pages (from-to)454-465
Number of pages12
JournalJournal of Robotics and Mechatronics
Volume34
Issue number2
DOIs
Publication statusPublished - 2022

Keywords

  • back-drivability
  • flexible grasp
  • hand prosthesis
  • pneumatic
  • self-powered

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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