DEPARTMENT OF MECHANICAL ENGINEERING,

MIT CAMPUS, ANNA UNIVERSITY, CHENNAI-600044

Zeroth and First Review

 GROUP MEMBERS
SNo NAME REGISTER NUMBER

1 AARON ZACHARIA VERGIS 2019509002

2 RAKESH RAJ 2019509038

3 SHANKAR P 2019509049

Supervised by : Dr P Ganesh
Assistant Professor
MIT Campus, Anna University
 PROPOSED TITLE

Design and Fabrication of a 6 Degree of Freedom Hand

 INTRODUCTION

The control of externally powered (or non-body powered) prostheses is

commonly accomplished through the use of EMG (electromyography).
Until recently, essentially all externally powered prostheses
with the exception of some laboratory hands were single degree-of-freedom
terminal devices (DOF).
The aim of this project is to develop a physical hand,to be able to produce
any of the standard prehensile postures.(Tip, palmar, lateral, cylindrical,
spherical and hook). Therefore, a six DOF design was proposed, in which each
finger would have one actuator.
LITERATURE SURVEY
SNo Authors Journal Name, Year Experimental Result Interference

1. Giulia C Matrone, Principal This paper shows Trials have This work
Christian Cipriani, components that the shown that two demonstrates
Emanuele L Secco, analysis based functionality, independent the
Giovanni Magenes, on control of a controllability and input signals effectiveness of
Maria Chiara multi-dof cosmetics are the can be a bio-inspired
Carrozza underactuated key issues to be successfully system
prosthetic hand. addressed in order used to control successfully
(2017) to accomplish a the posture of a conjugating the
successful real robotic advantages of
functional hand and that an
substitution of the correct grasps underactuated,
human hand by may be
means of a achieved. anthropomorph
prosthesis. ic hand.
SNo Authors Journal Name, Year Experimental Result Interference

2. Hong Liu, Dapeng Development of The purpose of this Successful This paper
Yang, Li Jiang and a multi-DOF paper is to present experiments on proposes to
Shaowei Fan prosthetic hand a five-fingered, trans radial consider the
with intrinsic multisensory amputees hand’s
actuation. prosthetic hand demonstrate appearance,
(2018) integrating both that the structure,
intuitive biomechatronic actuation and
myoelectric prosthetic hand transmission,
control and has a great sensor
sensory feedback. market configuration,
potential for control policy
disabled people and sensory
with different feedback on the
levels of whole
amputation. prosthetic hand
design.
SNo Authors Journal Name, Year Experimental Result Interference

3. Yves Losier, Adam An Overview of Aims at producing This paper The UNB Hand
Clawson, Adam the UNB Hand a compact, life-like provides a System design
Wilson, Erik System. (2017) and affordable general and
Scheme, Kevin hand. overview of the development
Englehart, Peter major efforts have
Kyberd and components focused on
Bernard Hudgins. and producing a
characteristics system that has
of the system. improved
functionality
and features
over currently
available
system while
striving to
remain at an
affordable cost.
SNo Authors Journal Name, Year Experimental Result Interference

4. Patrick Slade, Design and This paper This hand They detailed
Aadeel Akhtar, Performance of a presents the Tact matches or the design
Mary Nguyen, and Myoelectric hand—an exceeds the process and
Timothy Bretl Prosthetic Hand. anthropomorphic, performance of showed that the
(2015) myoelectric other state-of- Tact meets or
prosthetic hand the-art exceeds
that was myoelectric performance in
designed for use prosthetic comparison to
by people with hands. current
trans radial commercial
amputations in myoelectric
developing prostheses and
countries. is easily
manufacturable
SNo Authors Journal Name, Year Experimental Result Interference

5. A. Nurpeissova, T. Anthropomorph- There were a great There have The results are
Tursynbekov and ic Robotic Hand. number of studies been proposed work in larger
A. Shintemirov (2016) on developing and various designs workspace,
experimental trials of enhanced
of novel upper underactuated gripping
limb prosthesis
artificial performance of
designs. Aiming to
fingers based the finger
provide more
on mechanical compared with
dexterous and
advanced grasping linkage the traditional
capabilities, mechanisms as two-phalanx
modern upper experientially finger designs,
limb prostheses demonstrated more natural
utilize advances of with the grasp and
robotic hand designed finger finger
research. prototype. movement.
Problem Statement

1. The existing disadvantage of a prosthetic hand is its cost and weight.

2. It does not have the capability to individually operate its fingers.

Objective

1. To identify an optimal parameter when compared to other research papers

and to design a compatible and cost friendly hand.
2. The hand is to be designed to be able to produce any of the standard
prehensile postures (Tip, palmar, lateral, cylindrical, spherical and hook),
as well as being able to produce more complex tasks involving
independent finger movements. With the help of individual actuators this
can be done.
Methodology

DESIGN
RESEARCH OPTIMISE FABRICATE TEST
THE HAND
References
1. Giulia C Matrone, Christian Cipriani, Emanuele L Secco, Giovanni Magenes, Maria Chiara Carrozza.
“Principal components analysis based on control of a multi-dof underactuated prosthetic hand”.
(Online). https://www.ncbi.nlm.nih.gov/pmc/articles/PMC2876164/
2. Hong Liu, Dapeng Yang, Li Jiang and Shaowei Fan. “Development of a multi-DOF prosthetic hand
with intrinsic actuation”. Volume 44 Issue 4.
https://www.emerald.com/insight/content/doi/10.1108/IR-11-2013-417/full/html
3. Y. Losier, et al., “An overview of the UNB hand system.” Proceeding of the 2011 Myoelectric
Controls/Powered Prosthetics Symposium;
4. Patrick Slade, Aadeel Akhtar, Mary Nguyen, and Timothy Bretl. “Design and Performance of a
Myoelectric Prosthetic Hand”.
5. A. Nurpeissova, T. Tursynbekov and A. Shintemirov. “Anthropomorphic Robotic Hand”