柔軟メカニズムを用いた一体構造型を有する小児義手用小型多自由度ハンドの開発

抄録

Hands play a very important role in humans, allowing us to grasp, touch, and manipulate objects. In previous studies, several types of pediatric prosthetic hand have been developed. However, a 2-DOF (Degree of Freedom) wrist joint that can move freely and intuitively like human wrist has not been developed. In this study, we developed a monolithic-structured multi-DOF pediatric prosthetic hand with a 2-DOF wrist. By using a compliant mechanism that uses deformation of an elastic hinge, the number of parts can be reduced while maintaining the degree of freedom. Therefore, the proposed structure is superior in terms of movability and assembly cost compared with conventional structure. Fingers and wrists are designed to achieve the human joint range of motion. In evaluation experiments, we confirmed that fingertip force for grasping and wrist strength in compression are sufficient for the specifications required in daily life. Finally, we fabricated a prototype using a 3D printer and demonstrated the feasibility of the proposed mechanism.