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Title:Development of a low-cost high-impact resistant compliant myoelectric prosthetic hand
Author(s):Choi, Kyung Yun
Advisor(s):Bretl, Timothy Wolfe
Department / Program:Aerospace Engineering
Discipline:Aerospace Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Robotic hand
Myoelectric hand
Prosthetic hand
Compliant mechanism
Soft robotics
3D printing
Additive manufacturing
Open source
Sensory feedback
Abstract:Repeated mechanical failure due to accidental impact and lack of sensory feedback are one of the main reasons why people with upper-limb amputations abandon commercially-available prosthetic hands. To address this problem, this thesis presents the design and evaluation of a compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant and the integration of electromyographic (EMG) motor control and sensory substitution. The mechanism of our design replaces both the rigid input and coupler links with a monolithic compliant bone, and replaces the follower link with three layers of pre-stressed spring steel. This design behaves like a conventional four-bar linkage but adds lateral compliance and eliminates a pin joint, which is a main site of failure on impact. We introduce the fabrication process of the compliant finger and palm that enables the 3-D printed low-cost prosthetic hand to be impact resistant. This fabrication process and hand design enables the development of the prosthetic hand to be low-cost, light-weight, and easy to assemble and reproducible. Results from free-end and fixed-end impact tests show that, compared to those made with a conventional four-bar linkage, fingers made with our design absorb up to 11 % more energy on impact with no mechanical failure. Also our hand showed that it has grasping performance comparable to commercially-available hands. We also evaluate the sensorimotor capabilites of our hand with a subject with a transradial amputation. We show that using contact reflexes and sensory substitution, when compared to standard myoelectric prostheses that lack these features, improves grasping of delicate objects like an eggshell and a cup of water both with and without visual feedback. Our hand is easily integrated into standard sockets, facilitating long-term testing of sensorimotor capabilities.
Issue Date:2017-04-28
Rights Information:Copyright 2017 Kyung Yun Choi
Date Available in IDEALS:2017-08-10
Date Deposited:2017-05

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