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An Extensor Mechanism For An Anatomical Robotic Hand
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Category : Science » Robot Science
An Extensor Mechanism for an Anatomical Robotic Hand. David D. Wilkinson. 1 , Michael Vande Weghe . extensor mechanism, a web-like collection of tendinous .
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Content Summary :
Abstract -- The human finger possesses a structure called the extensor
mechanism, a web-like collection of tendinous material that lies on the
dorsal side of each finger and connects the controlling muscles to the
bones of the finger. In past robotic hand designs, extensor mechanisms
have generally not been employed due in part to their complexity and a
lack of understanding of their utility. This paper presents our first
design and analysis effort of an artificial extensor mechanism. The
goal of our analysis is to provide an understanding of the extensor
mechanism’s functionality so that we can extract the crucial features
that need to be mimicked to construct an anatomical robotic hand. With
the inclusion of an extensor mechanism, we believe all possible human
finger postures can be achieved using four cable driven actuators. We
identified that this extensor mechanism gives independent control of
the metacarpo-phalangeal (MCP) joint and acts not only as an extensor
but also as a flexor, abductor, adductor, or rotator depending on the
finger’s posture.
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