ATLAS Finger: a Prosthetic Finger Mechanism for Robotic Applications

Document Type : Original Article

Authors

1 Intelligent Mechanical Systems Research Lab, Department of Mechanical Engineering, Pardis Science & Technology Branch, Islamic Azad University, Tehran, Iran

2 Department of Mechanical Engineering, Pardis Branch, Islamic Azad University, Tehran, Iran

Abstract

The first and most important part of mechanical design of a prosthetic hand is the finger. Over the years, many diverse and innovative designs for the prosthetic finger mechanism have been proposed. For this aim, capability of grasping objects in a stable manner with suitable contact force and an anthropomorphic structure are critical factors for design. In this article, after examining the anatomy of a natural finger the most prominent mechanisms offered by researchers are investigated. Then the ATLAS artificial finger mechanism and the 3D-printed prototype of which is introduced. Finally, the amount of contact force produced by the ATLAS upper finger phalange is calculated and verified with some motion study simulations. For validation of proposed mechanism, the amount of contact forces produced by the designed finger and the natural finger are compared. The results prove the effectiveness of the design.

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Main Subjects

International Journal of Robotics, Theory and Applications
Volume 9, Issue 1
May 2023
Pages 1-10

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