Development of MorphHand: Design of an underactuated anthropomorphic rubber finger for a prosthetic hand using compliant joints

Tapio V J Tarvainen*, Wenwei Yu, Jose Gonzalez

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    6 Citations (Scopus)

    Abstract

    This paper describes the design of a 3D-printed rubber finger with simple compliant joints for an anthropomorphic prosthetic hand. This hand, called MorphHand, is developed to test a new manufacturing method that combines the ideas of morphological computation, compliant mechanisms, biomimetics, personalization, and rapid manufacturing. In this paper, the essential features and parameters for the design of the finger were investigated with the goal of achieving inherent flexibility and similar, smooth and natural trajectories as the human hand. Five two-joint rubber fingers with nine different structural and material configurations were 3D-printed and tested. Trajectory, joint angle, and force data were acquired by using a motion capture system and a force gauge. Finally, the results were compared to a real finger. The chosen morphological parameters had the expected effects on the fingers' response and three of the configurations resulted in a close to natural response. Also, one of the fingers had closed air pockets behind its joints. This made the finger's extension faster and its cosmesis better, making the structure interesting for further development.

    Original languageEnglish
    Title of host publication2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
    Pages142-147
    Number of pages6
    ISBN (Electronic)978-1-4673-2125-9
    DOIs
    Publication statusPublished - 2012
    MoE publication typeA4 Article in a conference publication
    EventIEEE International Conference on Robotics and Biomimetics - Guangzhou, China
    Duration: 11 Dec 201214 Dec 2012

    Conference

    ConferenceIEEE International Conference on Robotics and Biomimetics
    Abbreviated titleROBIO
    Country/TerritoryChina
    CityGuangzhou
    Period11/12/201214/12/2012

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