Design of a Pneumatically Powered Hand Prosthesis for Toddlers

Introducing an underactuated 3-DOF linkage-based finger transmission mechanism

Master thesis (2020)

Authors

J.C. Vervaet Mechanical Engineering

Contributors

D.H. Plettenburg Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering (supervisor 1)
F.C.T. van der Helm Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering (supervisor 2)
Faculty
Mechanical Engineering
Copyright: © 2020 joost Vervaet
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Published Date

27-08-2020

Language

English

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Faculty

Mechanical Engineering

Abstract

A large proportion of upper extremity prostheses are abandoned by their users.
Commonly, the main reasons for abandonment are related to comfort, control and cosmetics.
Prostheses are often experienced as too heavy and have limited functionality.
A pneumatic power source is able to provide a relatively high force using a small and lightweight actuator.
However, state-of-the-art pneumatically powered upper extremity prosthesis offer either high grasp forces or the ability to adapt to the size and shape of an object.
This article presents the design of a pneumatically powered hand prosthesis for toddlers, which focuses on being lightweight and highly functional.
An underactuated 3-DOF linkage-based finger transmission mechanism was created and served as a proof-of-principle.
The resulting prototype was 3D printed and tested following an elaborate list of criteria.
The results demonstrate that the mechanism is capable of transmitting an actuator force of 100.5 N to a fingertip force of 32.3 N using 5 bar of pressure.
The proposed mechanism also offers the functionality of adaptive grasping.
The conceptual design and prototype show promising capabilities for the development of a lightweight and highly functional prosthesis for toddlers.