Development of Anthropomorphic Prosthesis Hand H 3 and Its Control

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1 Development of Anthropomorphic Prosthesis Hand H 3 and Its Control Tae Sung Kim 1 and Jong Hyeon Park 2 1 Department of Mechanical Engineering, Hanyang University, Seoul, Korea 2 School of Mechanical Engineering, Hanyang University, Seoul, Korea Abstract. This paper proposes H 3, an anthropomorphic prosthesis hand with 5 fingers and human hand size. It consists of the combination of direct actuated and underactuated system for a dexterous grip. The H 3 also has modularized 2 DOF of MCP mechanism in a thumb for power grip. The adduction-abduction and antepositon-retroposition movements are generated by this structure of thumb which is the function of addubtor pollicis and thenar muscles. A direct actuated system of index finger and underactuated system of the other fingers without thumb and index finger adopt for power grip and precision grip. The joint of DIP movements in each fingers are generated by extension spring system which give the functions of extension and flexion similar to a human hand. The motions of H 3 are simulated with commercial software called RecurDyn. The hand is controlled using a stiffness control with force feedback for stable and dexterous grips. 1 Introduction Earlier prosthetic hands looked like a hook instead of human hands. Silicon-type gloves can be a remedy to disgusting appearance of these hands [1]. However, with the hook hands, it was difficult to move some objects stably and to make a powerful grip for heavy object due to its unstable grip posture. Bowker and Michael introduced an electric hand called Otto Bock to overcome hook s problems [2]. However, it also has problems including the movement limit when it grasps some objects with the opposite grip. The interests and requirements of user about a prosthetic hand were considered for the anthropomorphic prosthesis hand [3]. And a machine hand is needed the functional requirements which has manipulative dexterity, grasp robustness and human operability [4]. Robotic hand researchers are working to develop a robot hand similar to human hand functions based on medical research study on human hand anatomy, physiology of the joint and etc. [5-6] UTAH/MIT Hand, Barret Hand, DLR I, Robonaut s Hand, Shadow, Anthrobot, and Gifu are the robotic hands which had the ability to grip strongly and precisely. The transmissions employed by them are tendon, gear type, pneumatic system and etc. which are based on human tendon structures in a finger. They have some kind of sensors to measure external forces and/or contact with environment. Biagiotti suggests that a robotic hand is different from a gripper, and that it should be a hand for rehabilitation with the ability to grasp objects based on the structure and functionality of human hands [7]. Medical research works for hand rehabilitation to do the surgery. It always implies a possibility of danger. Researchers on robot hands are also interested in anthropomorphic prosthesis hand for the human hand rehabilitation [2]. The hands mentioned above have a degree of freedom similar to that of a human hand for natural movement; however, Tsai suggested that the number of input actuators needs to be N+1 for control [8]. These hands are not anthropomorphic prosthesis hands because of a heavy weight. In consequence, an underactuated system is utilized to reduce the number of actuators, which add weights of the hand, even though it has low ability to grasp object. In underactuated systems, the number of actuators is less than the degree of motion freedoms. DLR II, TUAT/Karlsruhe, MANUS hand, and torso hand [8-10] used underactuated systems so that their fingers change their shapes adaptively to the object to grasp with fewer actuators than normally required. A fewer actuated robot hand makes a fewer movements generates. For this reason, most of hand structures focus on the main feature of human hand opposite grip because these hand can limit movement by fewer actuators. DLR II is 1 DOF thumb is 1 DOF of underactuated hand and MANUS also 1 DOF thumb, which can make opposite grip using adduction and abduction motions. Lopes et al. suggested a torso hand with a thumb that has 2-DOFs plus additional rotational DOF for opposite grip [11]. There are a few drawbacks to these hands. First, it is not possible to have some types of power grip or precision grip introduced by [5]. Second, a more time is needed to manage and repair parts because they use a type of union structure to reduce the number of actuators. ISSN: ISBN:

2 This research proposes the H 3 (Hanyang Humanoid Hands) which is similar to the human hand in size with five fingers controlled by only four motors. The H 3 consists of a 2-DOF of MCP with adduction-abduction and anteposition-retroposition to generate human hand motions. It is possible to have several types of power grips and precision grips. Due to its modular design, a thumb can be easily serviced or replaced by another unit. The hand design makes a structure which is based on medical researches on human hands, where adductor pollicis muscle in the thumb is used for power grips and lateral pinches, and thenar muscles for stable grip. As the grip taxonomy, it also can perform precision grip such as sphere posture. A single motor controls the index finger which has underactuated joints. A single actuator combined with an underactuated DOF generates the motions of all the other digits: long finger, ring finger, and little finger. 1-DOF interphalangeal (IP), 2-DOF metacarpo-phalangeal (MCP), 2-DOF carpometacarpal (CMC), which is sometimes referred as trapeziometacarpal (TMC), joints [5,6]. The CMC joint is a true saddle joint composed of two saddle-shaped surfaces and generates adduction-abduction, anteposition-retroposition and internal-external rotation for opposite grips. The thumb is not possible to make 5 DOF separate movements by the mutually composite muscles. The CMC joint, which is unique in primates, in a human hand is different from those of primates-monkeys, chimpanzees and it makes it possible to form opposite grips and lateral pinch. During grasping an object, it makes stable grip and precision grip possible. The thenar of muscles in a thumb has such a capability and thus is important to determine human-type grip. In Section 2, the structure and functions of a human hand is reviewed. In Section 3, the features of anthropomorphic prosthesis hand H 3 for power grip and precision grip are introduced. In Section 4, the simulation results for stable grasping with stiffness control and force feedback are shown, followed by conclusions in Section 5. 2 Review of structure of a human hand A human hand consists of bones and muscles in a small volume with mutually composition and cooperation. It is possible to precisely move and distribute external forces during grasp and to perform stable grip because the unique structure and functionality of the hand. Many researches have been developing anthropomorphic prosthesis hands for human hand rehabilitation and for stable and dexterous handling of grasped objects. The muscles in a hand are organized as flexion-extension which generates finger rotational movements the axes of which are perpendicular to a vector normal to the palm, and adduction-abduction which generates finger rotational movements the axes of which are normal to palmar plane shown in Fig. 1. Kapandji indicated that the flexion is located on anterior palm and works the finger moves into the anterior palm and that extension is located on dorsal aspect s palm and works into the dorsal palm [6]. The most important finger in a hand is a thumb which plays a critical role in a basic grip to hold an object, a stable grip, a power grip and other type of grips including dynamical movements of an object with the other fingers. The thumb has 5 DOFs: Fig. 1 Muscles and the structure in a human hand [5] 3 Development of anthropomorphic prosthesis hand 3.1 Design Concepts of H3 The design of H 3 is based on the following design concepts. Anthropomorphic prosthesis hand: A possible grip for a variety of objects with the natural and human hand size. Modularized 2 DOF of MCP mechanism of thumb for power grip: The mechanism with the ISSN: ISBN:

3 functionality of thenar muscles and adductor pollicis for power grips. Direct actuated index finger and underactuated the other fingers: Direct actuated index finger for precision grips and power grips, and the other fingers using underactuated system automatically generates power grips for objects and dexterous grips. DIP with extension and flexion similar to human DIP: The joint of DIP movement generated by extension spring system similarly to a human hand. are installed currently; however, sensors to measure finger-tip pressure will be installed. B. Modularized MCP mechanism of thumb A prosthetic hand mimics the hand structure and functionality of human hands. However, it is difficult and costly to build a prosthetic hand in small volume. Especially, human thumbs have a very complicated mechanism. For practical realization of prosthetic hands, it needs to be designed to achieve the functionality of MCP and CMC joints which is critical in power grips and precision grips. In this work, the movements of thumb joints are simplified as shown in Fig. 3. A human hand has a 2-DOF MCP joint, CMC joint make opposite grip corporately and it is possible to make that grip movement from the simplified 1~3 joint movement. Antheposition-retroposition was generated by 1 movement and adduction-abduction was generated by 2 movement and opposite posture was generated by combination of 2 and 3 movement. In some anthropomorphic prosthesis hands, an opposite grip is generated by 2 movement only, which limits the motion range significantly. (a) (b) (a) (b) Fig. 3 Human hand: (a) Simplified model and (b) an real human hand in various grips Fig. 2 (a) Hand H 3 and (b) its computer model 3.2 Specification of design concepts A. Anthropomorphic prosthesis hand The H 3 hand shown in Fig. 2 reduces the abhorrence for a prosthetic hand and generates natural movements. It is a little smaller than the average human hand and has the thenar muscles for stable grips. It has five fingers with four actuators: two actuators for MCP joints of the thumb MCP, one for the index, and one for the rest of the fingers. It can make several power grips and precision grips. No sensors Fig. 4. Modular unit for 2-DOF MCP joint The H 3 has a thumb of 2 DOF MCP with 1 and 2, and is based on human hand features in the antheposition-retroposition and adduction-abduction, which is thought to be more important than opposite grips for power grips. The H 3 also have the thenar muscles structures and adductor pollicis similar to a ISSN: ISBN:

4 human hand. H 3 has the power merit is the modularized a modular 2-DOF MCP mechanism of a thumb as shown in Fig. 4. The MCP mechanism works as follow. One actuator (Motor 1331), which is located such that it looks like thenar muscles, turns the assembly part which performs the functions of the rest of the thumb and which generates abbuction-addcution movements. The motor and the assembly part are connected by a spur gear. Thus, the motor generates anteposition-retroposition movements of the thumb and has the ability of power grips, functioning as the adductor pollicis of human hands. The assembly part connected to the motor has another actuator (Motor 1319) that generates adduction-abduction movements. For power grips and precision motion control, motion at IP joint is generated by MCP joint movement through a 4-bar linkage as shown Fig. 4. C. Direct actuated at index finger and underactuated at other fingers When a human grasps an object securely, the motions of the thumb and index finger contribute approximately 80% of the grasping motion [6]. Accordingly, the MCP joint of the index finger is driven actively to apply large grip force. The PIP joint is driven by a four-bar linkage actuated by the MCP joint motor, and the DIP joint is driven passively by a tendon. The long finger also plays an important role in power grips and precision grips, and pulls objects to grip. It makes it possible to power-grip and precision-grip an object regardless of its shape. In order to reduce the total weight of the hand, the number of actuators used should be limited. Thus, an underactuated system was employed with a single motor to control the long, the ring, and the little fingers. The mechanisms for the index finger and the other fingers are shown in Fig. 5. D. Extension spring system of DIP joint The H 3 adopts an extension spring in the DIP joint for flexion and extension similar to that of a human hand, as shown in Fig. 5. The extension spring is located between the middle phalanx and the distal phalanx, and is responsible for extension movements. The distal phalanx is also connected to the tendon. It also generates the return movement of the DIP joint. Fig. 5 Mechanisms of the index finger and the others 4 Simulation and its control 4.1 Simulations of power grips The H 3 is an anthropomorphic prosthesis hand which can form power grips among various grips. Possible grips are simulated dynamically with a computer. The dynamic simulation tool used here is RecurDyn. The possible grips simulated are shown in Fig. 6. (a) (b) (c) (d) (e) Fig. 6 Power grips and precision grips realizable by the H 3 : (a) full palmar prehension (b) fist posture (c) composite grip (d) lateral pinch (e) sphere grip 4.2 Stiffness Control Without any information on grip force, it would be impossible to estimate the object and to adjust the grip power suitably for safe grip with a robotic hand. It is necessary to measure the force applied by the thumb or index finger tip in order to control gripping force and to maintain the stable grip when H 3 holds an object. ISSN: ISBN:

5 Stiffness control [2] was implemented to control the grip force under the assumption that contact force between the finger tips and the object can be measured. In dynamic simulations, the force information can be readily available from the simulation software. Grasping a cylindrical object is simulated. The desired force model is obtained by using static equilibrium equation among forces applied at the index finger and the thumb, and the frictional and normal force at the palm as the object is grasped. Joint-level controller for stiffness control at the global level is shown in Fig. 7. The stable grip is achieved as shown in Fig. 8 with and without stiffness control. Fig. 7 Force-Feedback Control System driven by four actuators is developed. The H 3 has the modularized a 2-DOF MCP mechanism of the thumb for power grips similarly to human hand. The mechanism of the thumb is unique and modular for easy and quick replacements. The 2-DOF MCP mechanism can generate abduction-adduction and anteposition-retroposition motions. Various power grips are realized with this structure of the thumb. Underactuated systems are used in long, ring, and little finger for a variety of grips to realize precision grip movements while reducing the total weight of the hand by limiting the number of actuators or active joints. The DIP joint at each finger has the capability of extension and flexion due to the extension spring installed. It results in the increase of contact area during grasping an object, thus stabilize the grip. In simulation, the H 3 realized some power grips including fist posture, full palmar prehension and composite grip and the precision grips which are lateral pinch, sphere posture and the grip of cone object. Preliminary stiffness control is simulated to control the grasping force. The simulation results show the stable grip can be achieved with the stiffness control. Acknowledgement This work was performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Ministry of Knowledge Economy of Korea. References (a) (b) Fig. 8 Contact force during a grip: (a) without sensor and (b) with force sensor 5 Conclusions The H 3, an anthropomorphic prosthesis hand which is similar to human hands in size with five fingers [1] Doshi, R. et al., The design and development of a gloveless endoskeletal prosthetic hand, Journal of Rehabilitation Research and Development, pp , [2] Bowker, J. H. and Michael, J. W., Atlas of Limb Prosthetics: Prosthetic, and Rehabilitation Principles, Mosby-Year Book, [3] Nasser, S., Rincon, D. and Rodriguez M., Design of an Anthropomorphic Underactuated Hand Prosthesis with Passive-Adaptive Grasping Capabilities, Proc. Florida Conf. on Recent Advanced in Robotics, [4] Bicchi, A., Hands for Dexterous Manipulation and robust Grasping: A Difficult Road Toward Simplicity, IEEE Tr. on Robotics and Automation, Vol. 16, No. 6, [5] Tubiana, R., The Hand, W. B. Saunders, [6] Kapandji, I. A., The Physiology of the Joints, Vol. 1, pp , [7] Biagiotti, L., Advanced Robotic Hands: Design and Control Aspects, Ph.D. Thesis, [8] Tsai, L. W., Robot Analysis, John Wiley & Sons. Inc., ISSN: ISBN:

6 [9] Zhao, D. W. et al., Development of a Multi-DOF Anthropomorphic Prothetic Hand, Proc. IEEE Int. Conf. on Robotics and Biomimetics, pp , [10] Fukaya, N. et al., Design of the TUAT/Karlsruhe Humanoid Hand, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp , [11] Pons, J. L. et al., The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects, Journal of Autonomous Robots, Vol. 26, No. 2, pp , [12] Salisbury, J. K., Active Stiffness Control of a Manipulator in Cartesian Coordinates, Proc. IEEE Conf. Decision and Control including the Symposium on Adaptive Process, pp , [13] Lopes, M. et al., An anthropomorphic robot torso for imitation: design and experiments, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and System, pp , [14] Spong, M. W., Underactutaed Mechanical Systems, Proc. Int. Workshop on Control Problems in Robotics and Automation: Future Directions, ISSN: ISBN:

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