Research and development of one-finger drive type intelligent decorative electric prosthesis that sensed finger joint motion

Abstract

In this paper, we construct one-finger drive type intelligent decorative electric prosthesis that sensed finger joint motion near the defect. we considered a case where the index finger DIP joint and PIP joint were missing, devised an electric hand finger prosthetic mechanism with strong gripping power, small size, and light weight. With this mechanism, we aim to restore "pinch" which is the movement function of the hand. The sensing part is MP joint of the index finger or the middle finger. We control the electric prosthesis by sensing the motion in the angular direction of flexion and extension of these MP joints and writing the driving pattern to CPLD (Complex Programmable Logic Device). As the sensing method, instead of EMG signals conventionally used, a stretchable strain sensor with high flexibility makes of rubber and urethane is used as a simpler method. With this hand prosthesis, improvement of QOL is expected by enabling many ADL.