Design and kinematic analysis of a biphalange articulated finger mechanism for a biomechatronic hand prosthesis

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Abstract

This article presents the analysis of the trajectory of a real hand index finger in order to design a mechanism that realizes this movement. We start with a graphical analysis using the Kinovea software identifying the real path curve measured in a person. Based on these data, we do the design of the finger articulated mechanism by using CAD software. To validate the obtained data, we use the geometric method implemented in a MATLAB script and simulation in the Adams View software. As a result, we obtain the percentage of similarity between curves that is 77% and between the endpoints of the trajectories that has a value of 99.9%. With these values and depending on the mechanism designed, the possible grips that will be implemented in a biomechatronic hand prosthesis are proposed.

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Calle-Sigiencia, J. I., Encalada-Seminario, G. A., & Pinto-Leon, R. A. (2018). Design and kinematic analysis of a biphalange articulated finger mechanism for a biomechatronic hand prosthesis. In 2018 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2018. Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/ROPEC.2018.8661357

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