Hand prosthesis with 5 DOF using embedded systems

To propose a prototype of an artificial hand with 5 degrees of freedom with anthropomorphic characteristics and anthropometric dimensions. It a modular prosthesis that will be attached to different types of prosthesis and connectors. This work is based on the anatomical and biomechanical features and functions of the hand to perform grasping movements performed by the fingers. For this, methodological development is proposed, which determine the primary and secondary functions of the prototype. Furthermore, this methodology define the mechanical, electrical and electronic components that activate the hand movements, generating design alternatives from the creation of an overall scheme that is constituted of five stages: sensing, control, actuators, mechanisms and sourcing. The adaptation mechanism is a system of six links interlaced with joints of hinge type, similar to the proposed by Dechev [1]. As a result of this methodology, we obtained a prototype hand with 5 fingers, numbered I to V, with rigid mechanisms for achieving the flexion-extension movements of the fingers and also for the movement of the thenar prominence for opposition of the finger I with the other fingers. This prototype is a system that employs embedded systems to control the fingers. Each finger uses a different kind of actuators (servo, stepper motor and geared motor), also different controllers; this is because each one has not the same function in the hand.