Mechanical Design of a Poly-articulated Prosthetic Hand

Detalhes bibliográficos
Autor(a) principal: Rodrigues, Beatriz Mocinho
Data de Publicação: 2023
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Texto Completo: http://hdl.handle.net/10451/63801
Resumo: Tese de Mestrado, Engenharia Biomédica e Biofísica, 2024, Universidade de Lisboa, Faculdade de Ciências
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spelling Mechanical Design of a Poly-articulated Prosthetic HandMãoPróteseSubatuaçãoRobótica molePreensãoTeses de mestrado - 2024Domínio/Área Científica::Ciências Naturais::Ciências FísicasTese de Mestrado, Engenharia Biomédica e Biofísica, 2024, Universidade de Lisboa, Faculdade de CiênciasOnly 62% of arm amputees resort to prosthetic devices. Moreover, 1 in 5 of these individuals abandon them. A heavily contributing factor to this is the preference of some anthropomorphic and performance related features over others due to technological impediments. This reduces the devices’ adaptability as every individual favours different feature combinations. Therefore, research on the different feature combinations is essential to increase the adaptability of hand prosthesis and decrease their abandonment percentage. In this dissertation, a light and scalable poly-articulated hand prosthesis including 1DoF in the palm was developed based on underactuation and soft-robotic elements in order to study this combination of features’ impact in a devices’ grasp capabilities and learning period. This was achieved through the design of different ideas and testing of different prototypes based on an extensive literature review. The joints’ design includes elastics to ensure soft movement from flexion to extension. The opposite movement is ensured by a cable underactuated system. A bigger device was obtained through scaling of the original one. The mentioned set of features lead to a good grasping capability and a smooth finger and thumb movement. The palm joint of the final prototype could not move completely, therefore having to be moved passively in order to test the prosthetic device. Furthermore, the learning period could not be studied due to the time limit of the internship. In the future, corrections should be made in order to better the movement of the palm joint and the soft materials could be embedded within the joints to reduce the size of the hand. Additionally, the bigger hand should be tested, as the grasping capabilities were only tested on the smaller one and the learning period should be analysed.Matela, Nuno Miguel de Pinto Lobo ePiazza, CristinaRepositório da Universidade de LisboaRodrigues, Beatriz Mocinho2024-03-26T16:11:28Z202420232024-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10451/63801engmetadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-03-17T15:13:28Zoai:repositorio.ulisboa.pt:10451/63801Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T03:37:22.934519Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Mechanical Design of a Poly-articulated Prosthetic Hand
title Mechanical Design of a Poly-articulated Prosthetic Hand
spellingShingle Mechanical Design of a Poly-articulated Prosthetic Hand
Rodrigues, Beatriz Mocinho
Mão
Prótese
Subatuação
Robótica mole
Preensão
Teses de mestrado - 2024
Domínio/Área Científica::Ciências Naturais::Ciências Físicas
title_short Mechanical Design of a Poly-articulated Prosthetic Hand
title_full Mechanical Design of a Poly-articulated Prosthetic Hand
title_fullStr Mechanical Design of a Poly-articulated Prosthetic Hand
title_full_unstemmed Mechanical Design of a Poly-articulated Prosthetic Hand
title_sort Mechanical Design of a Poly-articulated Prosthetic Hand
author Rodrigues, Beatriz Mocinho
author_facet Rodrigues, Beatriz Mocinho
author_role author
dc.contributor.none.fl_str_mv Matela, Nuno Miguel de Pinto Lobo e
Piazza, Cristina
Repositório da Universidade de Lisboa
dc.contributor.author.fl_str_mv Rodrigues, Beatriz Mocinho
dc.subject.por.fl_str_mv Mão
Prótese
Subatuação
Robótica mole
Preensão
Teses de mestrado - 2024
Domínio/Área Científica::Ciências Naturais::Ciências Físicas
topic Mão
Prótese
Subatuação
Robótica mole
Preensão
Teses de mestrado - 2024
Domínio/Área Científica::Ciências Naturais::Ciências Físicas
description Tese de Mestrado, Engenharia Biomédica e Biofísica, 2024, Universidade de Lisboa, Faculdade de Ciências
publishDate 2023
dc.date.none.fl_str_mv 2023
2024-03-26T16:11:28Z
2024
2024-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10451/63801
url http://hdl.handle.net/10451/63801
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv metadata only access
info:eu-repo/semantics/openAccess
rights_invalid_str_mv metadata only access
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
_version_ 1833601767090159616

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