Creating a prototype of a robotic human hand for people with permanent disabilities. (February 2019)

• Record Type: Journal Article
• Authors: Koychev, Iliyan; Todorov, Daniel; Spasova, Gergana; Ivanov, Danail
• Is Part Of: Physica medica. Volume 58(2019)
• Page Start: 168
• Publication Date: 2019-02
• Subjects: Medical physics -- Periodicals; Biophysics -- Periodicals; Biophysics -- Periodicals; Imagerie médicale -- Périodiques; Radiothérapie -- Périodiques; Rayons X -- Sécurité -- Mesures -- Périodiques; Physique -- Périodiques; Médecine -- Périodiques; 610.153
• DOI: 10.1016/j.ejmp.2018.12.026
• Languages: English
• ISSNs: 1120-1797

Abstract

Abstract : Robotics is the technology of designing, constructing and exploiting robots with major applications. One such application is to use robots in assisting people with physical disabilities. The goal of this work is to create a prototype of a robotic human hand. The basic components used in designing the hand prototype are Arduino UNO based on ATMEL microcontroller development board, breadboard for easy assembly of electronic circuits, jumper cables, 3D printed components from PLA and ABS, servo motors, reinforced cord, linking elements and other elements for stability of the prototype. For printing the 3D hand model, a 3D fused-deposition modelling printer with two plastic printing materials, PLA and ABS, was used. The software solution for controlling the fingers and the basic safety of overturning/under-turning the fingers is C-based. The program was compiled and uploaded using the built-in IDE for Arduino. The project was completed in a 2-months period time. The result is a working and anatomically correct prototype of the human hand. Presently, the prototype can simulate normal contraction and relaxation of the fingers digitus quartus manus and digitus minimus manus, also known as the ring and pinky finger. This initial development is used as a base for a large scale project for creating a modern and functional design of robotic human hand. Depending on the patient needs, an individual model will be designed, allowing customization, depending on the patient's age, size and other factors, and will be produced. Acknowledgements: This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 692097.