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KMID : 1137820090300030205
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의공학회지
2009 Volume.30 No. 3 p.205 ~ p.212
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Design of Biomimetic Hand Prosthesis with Tendon-driven Five Fingers
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Jung Sung-Yoon
Kang Sung-Kyun
Bae Ju-Hwan
Moon In-Hyuk
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Abstract
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This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The designed hand prosthesis with tendon-driven five fingers has totally six degrees of freedom. But its weight is merely 400.73g. The hand can perform various hand functions such as the grasping and the hand postures. From experimental results, we show that the proposed hand prosthesis is useful to amputees as a prosthetic hand.
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KEYWORD
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biomimetic, tendon-driven, hand prosthesis, five fingers, kinematic analysis
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