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A hydraulically driven multifunctional prosthetic hand

Published online by Cambridge University Press:  27 April 2005

Stefan Schulz ,
Christian Pylatiuk ,
Markus Reischl ,
Jan Martin ,
Ralf Mikut  and
Georg Bretthauer
Stefan Schulz
Affiliation:
Institute for Applied Computer Sciences (IAI), Forschungszentrum Karlsruhe (FZK) (Germany) E-mail: www.fzk.de/fluidgruppe
Christian Pylatiuk
Affiliation:
Institute for Applied Computer Sciences (IAI), Forschungszentrum Karlsruhe (FZK) (Germany) E-mail: www.fzk.de/fluidgruppe
Markus Reischl
Affiliation:
Institute for Applied Computer Sciences (IAI), Forschungszentrum Karlsruhe (FZK) (Germany) E-mail: www.fzk.de/fluidgruppe
Jan Martin
Affiliation:
Institute for Applied Computer Sciences (IAI), Forschungszentrum Karlsruhe (FZK) (Germany) E-mail: www.fzk.de/fluidgruppe
Ralf Mikut
Affiliation:
Institute for Applied Computer Sciences (IAI), Forschungszentrum Karlsruhe (FZK) (Germany) E-mail: www.fzk.de/fluidgruppe
Georg Bretthauer
Affiliation:
Institute for Applied Computer Sciences (IAI), Forschungszentrum Karlsruhe (FZK) (Germany) E-mail: www.fzk.de/fluidgruppe
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Abstract

In this paper a new prosthetic hand is presented that closely approximates the grasping abilities of a human hand. A large variety of different objects can be grasped reliably and the movements of the hand appear to natural. This five-finger hand has 15 degrees of freedom driven by small sized flexible fluidic actuators. The drives are within the fingers allowing a very compact and lightweight hand. Also, a concept for the control of different grasp types is presented. The characteristics of the new hand are illustrated.

Keywords

Artificial handExo-ProstheticsFluidic actuatorsControl
Type
Research Article
Information
Robotica , Volume 23 , Issue 3 , May 2005 , pp. 293 - 299
Copyright
© 2005 Cambridge University Press

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