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BIOMECHATRONIC HAND

Discover the development of a biomechatronic hand aimed at replicating the appearance and performance of the natural hand, solving problems such as lack of sensory information, limited grasping capabilities, and unnatural finger movements. Learn about the architecture, actuation system, sensors, and potential future improvements.

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BIOMECHATRONIC HAND

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  1. BIOMECHATRONIC HAND PRESENTED BY ALBERT KURIAN

  2. INTRODUCTION • The objective is to develop an artificial hand aimed at replicating the appearance and performance of the natural hand or to obtain a complete functional substitution of the natural hand. • Main problems to be solved in order to improve the performance of prosthetic hands are: 1) lack of sensory information gives to the amputee 2) lack of “natural” command interface. 3) limited grasping capabilities 4) unnatural movements of fingers during grasping.

  3. BIOMECHATRONIC DESIGN • The main requirements to be considered are: - cosmetics - controllability - noiselessness - lightness - low energy consumption

  4. ARCHITECTURE OF THE BIOMECHATRONIC HAND • It uses small actuators (two of each finger) and micro motors instead of one single large actuator and motor.

  5. ACTUATION SYSTEM • Heavy actuator system

  6. Micro actuator system

  7. SMOOVY Characteristics

  8. Kinematics architecture The kinematics of each finger joints are: • MP (Meta carpophalengal) joint • PIP (Proximal interphalengal) joint • DIP (Distal interphalengal) joint

  9. HAND PROTOTYPE

  10. POSITION AND FORCE SENSORS • SENSORS 1) Tactile sensors 2) Proximity and range sensors 3) Position sensors 4) Hall effect sensors

  11. HALL EFFECT SENSORS • There are two basic forms of this sensor, LINEAR $ THRESHOLD.

  12. SENSORSCHARACTERISATION • CHARACTERISATION OF POSITION SENSOR.

  13. CHARACTERIZATION OF FORCE SENSOR

  14. FINGERED TRIP FORCE ANALYSIS

  15. FUTURE IMPROVEMENTS • Natural fingers movements during grasping and force sensor measurements should be further investigated.

  16. CONCLUSION • The biomechatronic design approach can lead to the development of hand and prostheses. • It requires low cost and low energy consumption for adequate autonomy (at least 8 hours between recharges).

  17. THANK YOU THANK YOU

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