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  4. Robotic Thumb Grasp-Based Range of Motion Optimisation
 
conference paper not in proceedings

Robotic Thumb Grasp-Based Range of Motion Optimisation

Dermitzakis, Konstantinos
•
Ioannides, Andreas
•
Lin, Hwai-ting
2013
35th Annual International Conference of the IEEE EMBS

With the thumb serving an important role in the function of the human hand, improving robotic prosthetic thumb functionality will have a direct impact on the prosthesis itself. So far, no significant work exists that examines the ranges of motion a prosthetic thumb should exhibit; many myoelectric prostheses arbitrarily select them. We question this design practice as we expect a significant functional volume reduction for performing certain activities vs. the maximum obtainable workspace. To this end, we compare and contrast four anatomically-accurate thumb models. We quantify their angular ranges of motion by generating point clouds of endeffector positions, and by computing their alpha-shape bounded volumes. Examining the function of the thumb for several grasps, we identify a 76% reduction of the required workspace volume vis-a-vis the maximum volume of a ”‘generic”’ human thumb.

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