単一アクチュエータと親指の受動的後退を備えた安価な筋電義手の運動学
Cin{\'e}matique d'une Proth{\`e}se de Main Myo{\'e}lectrique Accessible avec Actionneur Unique et R{\'e}tropulsion Passive du Pouce
単一のアクチュエータで三指把持と側方把持を実現する筋電義手の新しい運動学を提案し、試作機を評価した。
著者: Côme Butin, Damien Chablat, Yannick Aoustin, David Gouaillier
分類: cs.RO
原文アブストラクト
This work proposes a new kinematics of a myoelectric hand prosthesis with a single actuator, allowing to realize the tridigital grip but also the lateral grip. Inspired by tridigital prostheses, which are simpler, more robust and less expensive than polydigital prostheses, this new kinematics aims at proposing an accessible prosthesis (affordable, easy-to-use, robust, easy-to-repair). Cables are used instead of a rigid rod to transmit the movement bewteen the upper fingers and the thumb. The methods and design choices are detailed in this article. To conclude, the evaluation of the prototype by an experimented user leads to a first discussion of the results.
