Mechanical-Sensor Integrated Finger for Prosthetic Hand

摘要

To ensure the performance of the dexterous manipulation, this paper presents the design of a mechanical-sensor integrated finger for prosthetic hand. The grab force and the contact position between the object and the prosthetic hand's finger can be captured by the designed finger. First, the mechanism design and analysis of the measurement theory are described in detail. Then, we introduce the measurement circuit and analyze the measurement error. Based on the analysis of the measurement theory and measurement error, the method of least-square is employed to calibrate the output of the designed finger. Prosthetic hand grasping is also conducted to verify the validity of the designed finger. The experimental result shows that the root-mean-square(RMS) of the force measurement error is 0.18N, and the RMS of the contact position measurement error is 0.91mm.