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JRM Vol.32 No.5 pp. 1034-1043
doi: 10.20965/jrm.2020.p1034
(2020)

Paper:

Realistic and Highly Functional Pediatric Externally Powered Prosthetic Hand Using Pneumatic Soft Actuators

Hironari Taniguchi*, Nobuo Takemoto*, Ren Yakami*, Shuichi Wakimoto**, Takero Oshikawa**, Kosuke Morinaga***, and Takefumi Kanda**

*Osaka Institute of Technology
1-45 Chayamachi, Kita-ku, Osaka City, Osaka 530-8568, Japan

**Okayama University
3-1-1 Tsushima-naka, Kita-ku, Okayama City, Okayama 700-8530, Japan

***Hiroshima International University
555-36 Kurose-Gakuendai, Higashi-hiroshima City, Hiroshima 739-2695, Japan

Received:
April 30, 2020
Accepted:
August 8, 2020
Published:
October 20, 2020
Keywords:
prosthetic hand, soft actuator, McKibben, silicone rubber, soft robotics
Abstract
Realistic and Highly Functional Pediatric Externally Powered Prosthetic Hand Using Pneumatic Soft Actuators

Operating the developed hand by a normal girl

It is known that introducing a pediatric externally powered prosthetic hand from an early age has certain merits such as the recovery of body image. However, this process is not popular in Japan. The high cost and technological problems of the hand have resulted in difficulty in its popularization. The pediatric prosthetic hand must be lighter and smaller than the adult one. Furthermore, parents of users prefer a prosthetic hand, such as a human arm and hand. We developed a prosthetic hand that demonstrates certain functionalities and appearances similar to a real human hand. The prosthetic hand consists of miniature McKibben actuators and is manufactured from acrylonitrile-butadiene-styrene resin and covered by a silicon glove. It has flexible joint structures and can grasp objects of various shapes. In this paper, we present a prototype of the pediatric prosthetic hand and the results of gripping experiments, bending and extension of finger experiments, and user tests.

Cite this article as:
H. Taniguchi, N. Takemoto, R. Yakami, S. Wakimoto, T. Oshikawa, K. Morinaga, and T. Kanda, “Realistic and Highly Functional Pediatric Externally Powered Prosthetic Hand Using Pneumatic Soft Actuators,” J. Robot. Mechatron., Vol.32, No.5, pp. 1034-1043, 2020.
Data files:
References
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Last updated on Dec. 01, 2020