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

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.