Journal of Biomedical Engineering Research (대한의용생체공학회:의공학회지)

The Korean Society of Medical and Biological Engineering (대한의용생체공학회)
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Design of Biomimetic Hand Prosthesis with Tendon-driven Five Fingers

생체모방형 건구동식 의수의 설계

  • Jung, Sung-Yoon (Department of Intelligent System Engineering, Graduate School of Dong-Eui University) ;
  • Kang, Sung-Kyun (Korea Institute of Machinery & Materials) ;
  • Bae, Ju-Hwan (Department of Intelligent System Engineering, Graduate School of Dong-Eui University) ;
  • Moon, In-Hyuk (Department of Intelligent System Engineering, Graduate School of Dong-Eui University)
  • 정성윤 (동의대학교 대학원 지능시스템공학과) ;
  • 강성균 (한국기계연구원 시스템엔지니어링) ;
  • 배주환 (동의대학교 대학원 지능시스템공학과) ;
  • 문인혁 (동의대학교 대학원 지능시스템공학과)
  • Published : 2009.06.30
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Abstract

This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The designed hand prosthesis with tendon-driven five fingers has totally six degrees of freedom. But its weight is merely 400.73g. The hand can perform various hand functions such as the grasping and the hand postures. From experimental results, we show that the proposed hand prosthesis is useful to amputees as a prosthetic hand.

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References

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