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Author:Tarvainen, Tapio
Title:Development of MorphHand: Exploring the design of soft robotics for upper limb prosthetics
MorphHandin kehitystyö: Tutkimusmatka yläraajaproteesien suunnitteluun pehmeän robotiikan keinoin
Publication type:Master's thesis
Publication year:2014
Pages:vii + 57      Language:   eng
Department/School:Sähkötekniikan korkeakoulu
Main subject:Bioniikka   (S3006)
Supervisor:Sepponen, Raimo
Instructor:Yu, Wenwei
Electronic version URL: http://urn.fi/URN:NBN:fi:aalto-201405131788
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto  1039   | Archive
Keywords:exploratory study
hand prosthetics
robotic hand design
two-joint prototype finger
soft robotics
morphological computation
eksploratorinen tutkimus
käsiproteesit
robottikäden suunnittelu
kaksinivelinen prototyyppisormi
pehmeä robotiikka
morfologinen laskenta
Abstract (eng):This thesis describes the concept of a soft robotic hand prosthesis, namely MorphHand.
It is developed to see, if the ideas of morphological computation and soft robotics could bring answers to some of the current problems in upper limb prosthetics.
The goal of the thesis was to explore the possibility of realizing the concept by 3D-printing the hand from rubber.
This was done by manufacturing several soft one-piece finger prototypes, with compliant flexure joints.
Their response was evaluated in bending tests, to see how changing different morphological parameters would affect their response.
The evaluated morphological parameters had the predicted effects on the prototype fingers' response, and the results showed that the proposed concept may be realizable.
However, the used production methods should be reconsidered to make the fingers more durable and their response better.
Abstract (fin):Tämä diplomityö kuvailee pehmeän robottikäsiproteesin konseptin, joka on nimetty MorphHand:ksi.
Sitä kehitetään, jotta nähtäisiin voisiko morfologisen laskennan ja pehmeän robotiikan ideoita hyödyntää nykyaikaisia yläraajaproteeseja vaivaavien ongelmien ratkaisussa.
Diplomityön tavoitteena oli kokeilla voisiko tämän konseptin toteuttaa 3D-tulostamalla käden kumista.
Tämä tehtiin valmistamalla useita pehmeitä prototyyppisormia, joissa oli joustavat, samasta rakenteesta tehdyt nivelet.
Prototyyppien vastetta testattiin taivutuskokeissa, jotta nähtiin, miten erilaisten morfologisten parametrien muuttaminen vaikuttaisi siihen.
Testatut morfologiset parametrit vaikuttivat prototyyppien vasteeseen oletetuilla tavoilla ja tulokset osoittivat, että kuvailtu konsepti voi olla toteutettavissa.
Käytettyjä valmistustapoja tulisi kuitenkin kehittää, jotta sormista saataisiin kestävämpiä ja niiden vasteesta parempi.
ED:2014-05-18
INSSI record number: 49023
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