An underactuated prosthesis finger mechanism with rolling joints

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2 A, Issue , 2004, Pages 549-559

  Jobin, Jean Philippe ^a,b   Buddenberg, Harold S ^a   Herder, Just L ^a  

^a DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

^b UNIVERSITÉ LAVAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); FORCE CONTROL; GENETIC ALGORITHMS; MATRIX ALGEBRA; MOTION COMPENSATION; OPTIMIZATION; PRODUCT DESIGN; PROSTHETICS; VECTORS;

DEGREES OF ACTUATION (DOA); FORCE TRANSMISSION; MATRIX ELEMENTS; ROLLING JOINTS;

JOINTS (STRUCTURAL COMPONENTS);

EID: 14044273106     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/detc2004-57192     Document Type: Conference Paper

References (19)

1. Kyberd PJ, Evans M, Winkel S te (1998) An intelligent anthropomorphic hand, with automatic grasp, Robotica, 16:531-536.
2. Radocy B, 1986, Voluntary closing control: a successful new design approach to an old concept, Clinical Prosthetics and Orthotics, 10(2):82-86.
3. Plettenburg DH, Herder JL (2003) Voluntary closing; a promising opening in hand prosthetics, Journal of Technology and Disability, Vol. 15, p85-94.
4. Plettenburg DH, Cool JC (1992) Upper extremity prostheses, the WILMER approach, Proceedings of the 7th ISPO World Congress, June 28 - July 3, Chicago, p311.
5. Herder JL, Visser H de (2000) Force directed design of a voluntary closing hand prosthesis, Proceedings ASME DETC 26th Biennial Mechanisms and Robotics Conference, Sept 10-13, Baltimore, Maryland, DETC2000/MECH-14149.
6. Figliolini G, Ceccarelli M (1998) A motion analysis for one d.o.f. anthropomorphic finger mechanism, Proceedings ASME DETC 25th Biennial Mechanisms Conference, Sept 13-16, Atlanta, Georgia.
7. Laliberté T, Gosselin CM (1998) Simulation and design of underactuated mechanical hands, Mechanism and Machine Theory, 3(1/2)39/57.
8. Laliberté T, Birglen, L, Gosselin CM (2002) Underactuation in robotic grasping hands, Machine Intelligence and Robotic Control, 4(3)1/11.
9. Herder JL (1998a) Force directed design of laparoscopic forceps, Proceedings ASME DETC 25th Biennial Mechanisms Conference, Sept 13-16, Atlanta, Georgia, DETC98/MECH-5978.
10. Hirose S, Umetani Y (1978) The development of a Soft Gripper for the Versatile Rotot Hand, Mechanism and Machine Theory, Vol. 13, p351-359.
11. Bicchi A (2000) Hands for Dextrous Manipulation and Robust Grasping: a Difficult Road Towards Simplicity, IEEE Trans. on Robotics and Automation, 16(6)652-662.
12. Herder JL, Visser H de, Burght E van der (2001) Development of force-directed voluntary-closing hand prosthesis, ISPO World Congress, 1-6 July, Glasgow, UK.
13. Riele FLS te, Herder JL (2001) Perfect static balance with normal springs, Proceedings ASME Design Engineering Technical Conferences, Sept 9-12, Pittsburg, Pennsylvania, DETC2001/DAC21096.
14. Wilkes DF (1967) Rolamite: a new mechanical design concept, Report SC-RR-67-656A, Sandia Laboratory, Albuquerque.
15. Linde RQ van der, Schwab AL (1997) Multibody Dynamics, Lecture Notes wb1413, Delft University of Technology, Faculty of Mechanical Engineering.
16. Herder JL, Cool JC, Plettenburg DH (1998) Methods for reducing energy dissipation in cosmetic gloves, Journal of Rehabilitation Research and Development, 35(2)201-209.
17. Herder JL (1998b) Design of spring force compensation systems, Mechanism and Machine Theory, 33(1-2)151-161.
18. Houck CR, Joines JA, Kay MG (1995) A Genetic Algorithm for Function Optimization: A Matlab Implementation, MCSU-IE Technical Report 95-09.
19. Birglen L, Gosselin CM (2003) On the force capability of underactuated fingers, Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September, pi 139-1145.