Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics

Nurdos Omarkulov; Kuat Telegenov; Maralbek Zeinullin; Ainur Begalinova; Almas Shintemirov

doi:10.1109/EMBC.2015.7318895

Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics

Nurdos Omarkulov, Kuat Telegenov, Maralbek Zeinullin, Ainur Begalinova, Almas Shintemirov

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

24 Citations (Scopus)

Abstract

This paper presents the design of a linkage based finger mechanism ensuring extended range of anthropomorphic gripping motions. The finger design is done using a path-point generation method based on geometrical dimensions and motion of a typical index human finger. Following the design description, and its kinematics analysis, the experimental evaluation of the finger gripping performance is presented using the finger 3D printed prototype. The finger underactuation is achieved by utilizing mechanical linkage system, consisting of two crossed four-bar linkage mechanisms. It is shown that the proposed finger design can be used to design a five-fingered anthropomorphic hand and has the potential for upper limb prostheses development.

Original language	English
Title of host publication	2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2474-2477
Number of pages	4
ISBN (Electronic)	9781424492718
DOIs	https://doi.org/10.1109/EMBC.2015.7318895
Publication status	Published - Nov 4 2015
Event	37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015 - Milan, Italy Duration: Aug 25 2015 → Aug 29 2015

Publication series

Name	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume	2015-November
ISSN (Print)	1557-170X

Other

Other	37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
Country/Territory	Italy
City	Milan
Period	8/25/15 → 8/29/15

ASJC Scopus subject areas

Signal Processing
Biomedical Engineering
Computer Vision and Pattern Recognition
Health Informatics

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10.1109/EMBC.2015.7318895

Cite this

Omarkulov, N., Telegenov, K., Zeinullin, M., Begalinova, A., & Shintemirov, A. (2015). Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics. In 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015 (pp. 2474-2477). Article 7318895 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; Vol. 2015-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2015.7318895

Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics. / Omarkulov, Nurdos; Telegenov, Kuat; Zeinullin, Maralbek et al.
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2474-2477 7318895 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; Vol. 2015-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Omarkulov, N, Telegenov, K, Zeinullin, M, Begalinova, A & Shintemirov, A 2015, Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics. in 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015., 7318895, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, vol. 2015-November, Institute of Electrical and Electronics Engineers Inc., pp. 2474-2477, 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015, Milan, Italy, 8/25/15. https://doi.org/10.1109/EMBC.2015.7318895

Omarkulov N, Telegenov K, Zeinullin M, Begalinova A , Shintemirov A. Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics. In 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2474-2477. 7318895. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). doi: 10.1109/EMBC.2015.7318895

Omarkulov, Nurdos ; Telegenov, Kuat ; Zeinullin, Maralbek et al. / Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 2474-2477 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

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abstract = "This paper presents the design of a linkage based finger mechanism ensuring extended range of anthropomorphic gripping motions. The finger design is done using a path-point generation method based on geometrical dimensions and motion of a typical index human finger. Following the design description, and its kinematics analysis, the experimental evaluation of the finger gripping performance is presented using the finger 3D printed prototype. The finger underactuation is achieved by utilizing mechanical linkage system, consisting of two crossed four-bar linkage mechanisms. It is shown that the proposed finger design can be used to design a five-fingered anthropomorphic hand and has the potential for upper limb prostheses development.",

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Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics

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