BIOMECHATRONIC HAND

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BIOMECHATRONIC HAND
PRESENTED BY ALBERT KURIAN
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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.

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BIOMECHATRONIC DESIGN

• The main requirements to be considered are
• - cosmetics
• - controllability
• - noiselessness
• - lightness
• - low energy consumption

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ARCHITECTURE OF THE BIOMECHATRONIC HAND

• It uses small actuators (two of each finger) and
  micro motors instead of one single large
  actuator and motor.

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ACTUATION SYSTEM

• Heavy actuator system

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Micro actuator system
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SMOOVY Characteristics
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Kinematics architecture

• The kinematics of each finger joints are
• MP (Meta carpophalengal) joint
• PIP (Proximal interphalengal) joint
• DIP (Distal interphalengal) joint

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HAND PROTOTYPE
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POSITION AND FORCE SENSORS

• SENSORS
• 1) Tactile sensors
• 2) Proximity and range sensors
• 3) Position sensors
• 4) Hall effect sensors

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HALL EFFECT SENSORS

• There are two basic forms of this sensor, LINEAR
  THRESHOLD.

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SENSORS CHARACTERISATION

• CHARACTERISATION OF POSITION SENSOR.

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CHARACTERIZATION OF FORCE SENSOR
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FINGERED TRIP FORCE ANALYSIS
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FUTURE IMPROVEMENTS

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

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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).

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THANK YOU
THANK YOU