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Bandara, D.S.V., Gopura, R.A.R.C., Kajanthan, G., Brunthavan, M. and Abeynayake, H.I.M.M. (2014) An Under-Actuated Mechanism for a Robotic Finger. IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, Hong Kong, 4-7 June 2014, 407-412.
https://doi.org/10.1109/CYBER.2014.6917498

has been cited by the following article:

• TITLE: A Hand Prosthesis with an Under-Actuated and Self-Adaptive Finger Mechanism

  AUTHORS: R. A. R. C. Gopura, D. S. V. Bandara

  KEYWORDS: Under Actuation, Self-Adaptation, Four-Bar Mechanism, Finger Mechanism, Hand Pros-Thesis

  JOURNAL NAME: Engineering, Vol.10 No.7, July 23, 2018

  ABSTRACT: One of the major problems faced by hand amputees is the unavailability of a lightweight and powered multi-functional hand prosthesis. Under-actuated finger designs play a key role to make the hand prosthesis lightweight. In this paper, a hand prosthesis with an under-actuated and self-adaptive finger mechanism is proposed. The proposed finger is capable to generate passively different flexion/extension angles for a proximal interphalangeal (PIP) joint and a distal interphalangeal (DIP) joint for each flexion angle of metacarpophalangeal (MCP) joint. In addition, DIP joint is capable to generate different angles for the same angle of PIP joint. Hand prosthesis is built on the proposed finger mechanism. The hand prosthesis enables user to grasp objects with various geometries by performing five grasping patterns. Thumb of the hand prosthesis includes opposition/apposition in addition to flexion/extension of MCP and interphalangeal (IP) joint. Kinematic analysis of the proposed finger has been carried out to verify the movable range of the joints. Simulations and experiments are carried out to verify the effectiveness of the proposed finger mechanism and the hand prosthesis.