Modelling and FEM Analysis of 3D Printable Robotic Prosthetic Hand

Abstract

Many available prosthetic hands are unable to provide force feedback control to the user, so that they can exhibit multi-function capabilities to perform their routine tasks. Then, we design a new prosthetic hand to overcome the issue for the transradial amputees. A torque adjustable Multi finger design of a prosthetic hand will be discussed. The research focused on the design of 3D printable hand prosthesis with passive adaptive grasp feature. The finger modules are capable of actuating independently when any of the fingers makes contact with the object before the other. The coupling linkage mechanism is employed in the design with a novel drive mechanism actuate all four fingers using a single drive motor. Passive adaptive grasp with force control is incorporated using adjustable torque coupling to conform to the shape of the object. The resulted design achieves the normal male hand size with close approximation of human hand appearance. Key Words: Hand Prosthesis, Under actuated mechanism, Torque Coupling