Open-source, low-cost, compliant, modular, underactuated fingers: Towards affordable prostheses for partial hand amputations

Minas V. Liarokapis, Agisilaos G. Zisimatos, Melina N. Bousiou, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we present a series of design directions for the development of affordable, compliant, modular, underactuated robot fingers, that can be used as prostheses by amputees that suffer from various partial hand amputations (index to pinky fingers are considered). Our design is based on parametric models that have been derived from hand anthropometry studies. Various interfaces have been considered in order to control the prosthesis, depending on the type and level of amputation. More precisely: 1) An Electromyography (EMG) based interface is used to control the robot fingers employing the EMG signals of the human forearm muscles 2) A flex sensors based interface is used to record the motion of the intact finger/fingers and predict the motion of the prosthesis implementing a synergistic behavior in an efficient manner, 3) A body powered interface is used for those that want to achieve even lower cost, with robust intuitive operation. Following the proposed design directions, an amputee will be able to replicate our fingers and develop personalized, affordable, light-weight but yet efficient prostheses.

Original languageEnglish (US)
Title of host publication2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2541-2544
Number of pages4
ISBN (Electronic)9781424479290
DOIs
StatePublished - Nov 2 2014
Event2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014 - Chicago, United States
Duration: Aug 26 2014Aug 30 2014

Publication series

Name2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014

Other

Other2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
Country/TerritoryUnited States
CityChicago
Period8/26/148/30/14

Keywords

  • Open-Source Design
  • Prostheses

ASJC Scopus subject areas

  • Health Informatics
  • Computer Science Applications
  • Biomedical Engineering
  • Medicine(all)

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