OPTIMIZED FORCE DISTRIBUTION ON A COUPLED, SELF-ADAPTIVE, THREE PHALANXES PROSTHETIC FINGER

Authors:

Mahmood Hamid Yasen,Nabil Hassan Hadi,

DOI NO:

https://doi.org/10.26782/jmcms.2020.03.00005

Keywords:

Abstract

The significance of prosthesis and amputation have been presented, then the concept of under-actuation mechanism has been demonstrated, followed by an optimization procedure to get equal force distribution on a Coupling and Self-Adaptive three phalanxes prosthetic finger (iso-forced finger)Developing kinematic-mathematical model to get the required relations, to derive the objective function, then using multi-variable optimization with constraints, to determine the state of iso-forced finger. Discussing the results of the optimization and finding the average of the lengths of each link, finally explaining the stability of the new configuration, and the advantages of the new methodology.

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