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On Differential Mechanisms for Underactuated, Lightweight, Adaptive Prosthetic Hands

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dc.contributor.authorGao, Gengen
dc.contributor.authorShahmohammadi, Mojtabaen
dc.contributor.authorGerez, Lucasen
dc.contributor.authorKontoudis, George P.en
dc.contributor.authorLiarokapis, Minasen
dc.date.accessioned2022-03-23T12:26:34Zen
dc.date.available2022-03-23T12:26:34Zen
dc.date.issued2021-10-18en
dc.description.abstractOver the last decade underactuated, adaptive robot grippers and hands have received an increased interest from the robotics research community. This class of robotic end-effectors can be used in many different fields and scenarios with a very promising application being the development of prosthetic devices. Their suitability for the development of such devices is attributed to the utilization of underactuation that provides increased functionality and dexterity with reduced weight, cost, and control complexity. The most critical components of underactuated, adaptive hands that allow them to perform a broad set of grasp poses are appropriate differential mechanisms that facilitate the actuation of multiple degrees of freedom using a single motor. In this work, we focus on the design, analysis, and experimental validation of a four output geared differential, a series elastic differential, and a whiffletree differential that can incorporate a series of manual and automated locking mechanisms. The locking mechanisms have been developed so as to enhance the control of the differential outputs, allowing for efficient grasp selection with a minimal set of actuators. The differential mechanisms are applied to prosthetic hands, comparing them and describing the benefits and the disadvantages of each.</p>en
dc.description.versionPublished versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.3389/fnbot.2021.702031en
dc.identifier.issn1662-5218en
dc.identifier.other702031en
dc.identifier.pmid34733149en
dc.identifier.urihttp://hdl.handle.net/10919/109424en
dc.identifier.volume15en
dc.language.isoenen
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.subjectupper-limb prosthesisen
dc.subjectdifferential mechanismsen
dc.subjectrobot handsen
dc.subjectgraspingen
dc.subjectunderactuated mechanismsen
dc.titleOn Differential Mechanisms for Underactuated, Lightweight, Adaptive Prosthetic Handsen
dc.title.serialFrontiers in Neuroroboticsen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten

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