| Analysis of the human hand, as well as current robotics and prosthetic technology provides information which can be used to produce more functional artificial hands. This M.A.Sc. thesis collated the relevant literature from these three separate fields into one document. A conceptual design for a new, more functional electromechanical hand which incorporated the above information was then generated. This conceptual design indicated such items as the minimum number of digits required in an artificial hand, as well as where each digit should flex and extend. Each design feature of the conceptual device was then given a priority for its addition to the current electromechanical hands. Any feature which, if lacking from an electromechanical device, could not be compensated for by a prosthesis user received a high priority. One of these high priority features was then singled out for testing. This feature was the addition of compliant fingertips to an electromechanical hand to determine if compliant fingertips improve grasped object stability as hypothesised in the literature survey. Compliant fingertips were selected based upon the expected functional improvement they would yield and the ease with which they could be added to the existing electromechanical hands. The stability experiments were successful. Compliant fingertips improve the stability of objects grasped between them. If the appropriate material is used, the durability of the cosmetic glove is also improved. The appropriate material as determined from the experiment is silicon. Fingertips constructed of silicon can be used as an interim solution which immediately offers prosthesis users improved function. The realisation of the conceptual design can then occur at a later date and as a separate project. |
