Journal article

A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand

Hao Zhou, Alireza Mohamtnadi, Denny Oetomo, Gursel Alici

IEEE ROBOTICS AND AUTOMATION LETTERS | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2019

Abstract

The thumb of a natural hand or a prosthetic hand plays a significant role in realizing a hand's grasping and manipulation activities. This requires that mechanical design of a prosthetic hand should allow its thumb to perform both abduction/adduction and flexion/extension in order to mimic a natural hand's grasping and manipulation abilities with a minimum number of actuators. In this letter, we propose a novel monolithic soft robotic thumb for an anthropomorphic and transradial prosthetic hand. The thumb and the whole prosthetic hand were fabricated using a low-cost three-dimensional printing technology, with sizes comparable to those of real human ones but with much lighter weights. Based ..

View full abstract

Grants

Awarded by ARC Centre of Excellence for Electromaterials Science, University of Wollongong


Funding Acknowledgements

This work was supported by ARC Centre of Excellence for Electromaterials Science, University of Wollongong, under Grant CE140100012.