Improving a 3D-printed artificial anthropomorphic hand using the human hand model

摘要

This paper presents a modified 3D-printed artificial hand and control methods for trajectory smoothing. The InMoov hand was enhanced by adding medial rotation to the thumb - allowing it to be opposable. Open loop control, was implemented on the hand to allow fast and smooth trajectory displacement. Cameras and proximity sensors were introduced to the InMoov model to enable the InMoov hand to identify objects of interest for future works. The open loop control was tested to verily the trajectory smoothing and the reduction of the overshoot.