Name
Abstract | ||
|---|---|---|
This paper presents an EMG prosthetic hand for infants with compatibly lightness and high pinch power. Lightweight is an important point in the design of a prosthetic hand for infants. However, it is difficult to reduce the weight while maintaining the output because of the trade-off relationship between lightweight and pinch force. In this paper, we adopt the wire-driven mechanism to balance lightweight and pinch force. This mechanism pulls the wire via the friction between the wire and the pulley, which increases exponentially with the winding angle. Therefore, it is possible to fix the wire to the small-diameter motor pulley to obtain a high torque from a small motor. Since the stable winding depends on static friction in this mechanism, two kinds of hands with different wire tension maintaining mechanisms, palm-arrangement type and back-arrangement type, were manufactured. We compared the performance of the two hands and the back-arrangement type outperformed the palm-arrangement type in pinch force. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ARSO46408.2019.8948773 | 2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO) |
Keywords | Field | DocType |
infant,high pinch power,lightweight,wire-driven mechanism,small-diameter motor pulley,wire tension,palm-arrangement type,back-arrangement type,EMG prosthetic hand,high pinch force,static friction | Pinch,Computer science,Simulation,Mechanical engineering,Wire tension,High torque,Lightness,Pulley,Pinch force,Static friction | Conference |
ISSN | ISBN | Citations |
2162-7568 | 978-1-7281-3177-1 | 0 |
PageRank | References | Authors |
0.34 | 1 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Taichi Hirai | 1 | 0 | 0.34 |
| Shunta Togo | 2 | 2 | 6.05 |
| Yinlai Jiang | 3 | 10 | 11.72 |
| Hiroshi Yokoi | 4 | 383 | 92.58 |