3D printed robot hand structure using four-bar linkage mechanism for prosthetic application
Trans-radial prosthesis is a wearable device that intends to help amputees under the elbow to replace the function of the missing anatomical segment that resembles an actual human hand. However, there are some challenging aspects faced mainly on the robot hand structural design itself. Improvements...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Multidisciplinary Digital Publishing Institute
2020
|
| Online Access: | http://psasir.upm.edu.my/id/eprint/87565/ http://psasir.upm.edu.my/id/eprint/87565/1/ABSTRACT.pdf |
| _version_ | 1848860460175065088 |
|---|---|
| author | Abdul Wahit, Mohamad Aizat Ahmad, Siti Anom Marhaban, Mohammad Hamiruce Wada, Chikamune Izhar, Lila Iznita |
| author_facet | Abdul Wahit, Mohamad Aizat Ahmad, Siti Anom Marhaban, Mohammad Hamiruce Wada, Chikamune Izhar, Lila Iznita |
| author_sort | Abdul Wahit, Mohamad Aizat |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | Trans-radial prosthesis is a wearable device that intends to help amputees under the elbow to replace the function of the missing anatomical segment that resembles an actual human hand. However, there are some challenging aspects faced mainly on the robot hand structural design itself. Improvements are needed as this is closely related to structure efficiency. This paper proposes a robot hand structure with improved features (four-bar linkage mechanism) to overcome the deficiency of using the cable-driven actuated mechanism that leads to less structure durability and inaccurate motion range. Our proposed robot hand structure also took into account the existing design problems such as bulky structure, unindividual actuated finger, incomplete fingers and a lack of finger joints compared to the actual finger in its design. This paper presents the improvements achieved by applying the proposed design such as the use of a four-bar linkage mechanism instead of using the cable-driven mechanism, the size of an average human hand, five-fingers with completed joints where each finger is moved by motor individually, joint protection using a mechanical stopper, detachable finger structure from the palm frame, a structure that has sufficient durability for everyday use and an easy to fabricate structure using 3D printing technology. The four-bar linkage mechanism is the use of the solid linkage that connects the actuator with the structure to allow the structure to move. The durability was investigated using static analysis simulation. The structural details and simulation results were validated through motion capture analysis and load test. The motion analyses towards the 3D printed robot structure show 70–98% similar motion range capability to the designed structure in the CAD software, and it can withstand up to 1.6 kg load in the simulation and the real test. The improved robot hand structure with optimum durability for prosthetic uses was successfully developed. |
| first_indexed | 2025-11-15T12:45:35Z |
| format | Article |
| id | upm-87565 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T12:45:35Z |
| publishDate | 2020 |
| publisher | Multidisciplinary Digital Publishing Institute |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-875652022-07-06T08:13:25Z http://psasir.upm.edu.my/id/eprint/87565/ 3D printed robot hand structure using four-bar linkage mechanism for prosthetic application Abdul Wahit, Mohamad Aizat Ahmad, Siti Anom Marhaban, Mohammad Hamiruce Wada, Chikamune Izhar, Lila Iznita Trans-radial prosthesis is a wearable device that intends to help amputees under the elbow to replace the function of the missing anatomical segment that resembles an actual human hand. However, there are some challenging aspects faced mainly on the robot hand structural design itself. Improvements are needed as this is closely related to structure efficiency. This paper proposes a robot hand structure with improved features (four-bar linkage mechanism) to overcome the deficiency of using the cable-driven actuated mechanism that leads to less structure durability and inaccurate motion range. Our proposed robot hand structure also took into account the existing design problems such as bulky structure, unindividual actuated finger, incomplete fingers and a lack of finger joints compared to the actual finger in its design. This paper presents the improvements achieved by applying the proposed design such as the use of a four-bar linkage mechanism instead of using the cable-driven mechanism, the size of an average human hand, five-fingers with completed joints where each finger is moved by motor individually, joint protection using a mechanical stopper, detachable finger structure from the palm frame, a structure that has sufficient durability for everyday use and an easy to fabricate structure using 3D printing technology. The four-bar linkage mechanism is the use of the solid linkage that connects the actuator with the structure to allow the structure to move. The durability was investigated using static analysis simulation. The structural details and simulation results were validated through motion capture analysis and load test. The motion analyses towards the 3D printed robot structure show 70–98% similar motion range capability to the designed structure in the CAD software, and it can withstand up to 1.6 kg load in the simulation and the real test. The improved robot hand structure with optimum durability for prosthetic uses was successfully developed. Multidisciplinary Digital Publishing Institute 2020 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/87565/1/ABSTRACT.pdf Abdul Wahit, Mohamad Aizat and Ahmad, Siti Anom and Marhaban, Mohammad Hamiruce and Wada, Chikamune and Izhar, Lila Iznita (2020) 3D printed robot hand structure using four-bar linkage mechanism for prosthetic application. Sensors, 20 (15). art. no. 4174. pp. 1-22. ISSN 1424-8220 https://www.mdpi.com/1424-8220/20/15/4174 10.3390/s20154174 |
| spellingShingle | Abdul Wahit, Mohamad Aizat Ahmad, Siti Anom Marhaban, Mohammad Hamiruce Wada, Chikamune Izhar, Lila Iznita 3D printed robot hand structure using four-bar linkage mechanism for prosthetic application |
| title | 3D printed robot hand structure using four-bar linkage mechanism for prosthetic application |
| title_full | 3D printed robot hand structure using four-bar linkage mechanism for prosthetic application |
| title_fullStr | 3D printed robot hand structure using four-bar linkage mechanism for prosthetic application |
| title_full_unstemmed | 3D printed robot hand structure using four-bar linkage mechanism for prosthetic application |
| title_short | 3D printed robot hand structure using four-bar linkage mechanism for prosthetic application |
| title_sort | 3d printed robot hand structure using four-bar linkage mechanism for prosthetic application |
| url | http://psasir.upm.edu.my/id/eprint/87565/ http://psasir.upm.edu.my/id/eprint/87565/ http://psasir.upm.edu.my/id/eprint/87565/ http://psasir.upm.edu.my/id/eprint/87565/1/ABSTRACT.pdf |