This article focuses on the finger force estimation in Adam’s Hand, a polyarticulated myoelectric prosthesis for transradial and upper level amputations. The main features of the prosthesis are briefly discussed and a multibody model of the device is presented. A test is carried out to measure the maximum forces exerted by the distal phalanges when the fingers are in a fully opened configuration and the results are compared with the simulation for a preliminary validation of the model. Goals, instrumentation and methods of the testing campaign are described in detail.
A Multibody Approach for the Finger Force Estimation of a Robotic Hand / Grazioso, A.; Danese, C.; Zappatore, G. A.; Reina, G.. - STAMPA. - 14158:(2023), pp. 70-83. (Intervento presentato al convegno Proceedings of the 12th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2023 tenutosi a ita nel 2023) [10.1007/978-3-031-39504-8_5].
A Multibody Approach for the Finger Force Estimation of a Robotic Hand
Grazioso A.Conceptualization
;Danese C.;Reina G.
Conceptualization
2023-01-01
Abstract
This article focuses on the finger force estimation in Adam’s Hand, a polyarticulated myoelectric prosthesis for transradial and upper level amputations. The main features of the prosthesis are briefly discussed and a multibody model of the device is presented. A test is carried out to measure the maximum forces exerted by the distal phalanges when the fingers are in a fully opened configuration and the results are compared with the simulation for a preliminary validation of the model. Goals, instrumentation and methods of the testing campaign are described in detail.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
