2026-09-21T22:11:55Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/97463 2023-07-11 col_2142_5131 col_2142_14800 com_2142_5130 com_2142_14799 com_2142_234

Bretl, Timothy Wolfe Choi, Kyung Yun 2017-08-10T19:16:05Z 2017-08-10T19:16:05Z 2017-04-28 2017-05 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. Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms The student, Kyung Yun Choi, accepted the attached license on 2017-04-27 at 16:22. The student, Kyung Yun Choi, submitted this Thesis for approval on 2017-04-28 at 16:14. This Thesis was approved for publication on 2017-04-28 at 16:31. DSpace SAF Submission Ingestion Package generated from Vireo submission #11029 on 2017-08-10 at 13:45:58 Made available in DSpace on 2017-08-10T19:16:05Z (GMT). No. of bitstreams: 4 CHOI-THESIS-2017.pdf: 37341067 bytes, checksum: 4263905a92746a260f8223cc357a86b8 (MD5) Video4_1.mp4: 59479320 bytes, checksum: e0bfd37dc3577271da58bb36150807e4 (MD5) Video4_2.mp4: 11195313 bytes, checksum: a794d4beca6d7ec31aa9d5156bb8efd2 (MD5) LICENSE.txt: 4211 bytes, checksum: 5735d8a3bb182556c656111374072469 (MD5) Previous issue date: 2017-04-28 application/pdf http://hdl.handle.net/2142/97463 en Copyright 2017 Kyung Yun Choi Robotic hand Myoelectric hand Prosthetic hand Compliant mechanism Soft robotics Manufacturing Fabrication 3D printing Additive manufacturing Low-cost Open source Sensory feedback Design Development of a low-cost high-impact resistant compliant myoelectric prosthetic hand text text Aerospace Engineering Aerospace Engineering University of Illinois at Urbana-Champaign Thesis M.S.