Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre
[EN] Objective: A kinematic model of a hand prosthesis to study its behavior for different grip patterns is presented. Methodology: Initially, the anatomy and biomechanics of the hand with its movement limitations are summarized to obtain the design parameters that allow for obtaining a functional h...
| Autores: | , , |
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| Tipo de documento: | artigo |
| Data de publicação: | 2025 |
| País: | España |
| Recursos: | Universitat Politècnica de València (UPV) |
| Repositório: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | espanhol |
| OAI Identifier: | oai:dnet:riunet______::f85e2bb40de43473162caa721c7fb429 |
| Acesso em linha: | https://riunet.upv.es/handle/10251/235426 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Mano robótica Cinemática directa Cinemática inversa Agarres Robotic hand prosthesis Direct kinematics Inverse kinematics Grip |
| Resumo: | [EN] Objective: A kinematic model of a hand prosthesis to study its behavior for different grip patterns is presented. Methodology: Initially, the anatomy and biomechanics of the hand with its movement limitations are summarized to obtain the design parameters that allow for obtaining a functional hand structure. The mathematical models of the direct and inverse kinematics are developed and compared with the results obtained from commercial multibody simulation software. Results: The error in the direct and inverse kinematic models of the index finger of the prosthesis analyzed is low for the spherical and cylindrical grip. In the lateral grasp, an error of medium magnitude, approximately 7 %, was obtained. For the thumb, the error was negligible. Conclusions: Upon completion of the process, a functional prototype is obtained with fewer degrees of freedom compared to a real hand and with good accuracy regarding its kinematic response. |
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