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 proceedingConference contribution

15 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 languageEnglish
Title of host publication2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2474-2477
Number of pages4
ISBN (Electronic)9781424492718
DOIs
Publication statusPublished - Nov 4 2015
Event37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015 - Milan, Italy
Duration: Aug 25 2015Aug 29 2015

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume2015-November
ISSN (Print)1557-170X

Other

Other37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
CountryItaly
CityMilan
Period8/25/158/29/15

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

Fingerprint Dive into the research topics of 'Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics'. Together they form a unique fingerprint.

Cite this