Research Article
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Year 2021, , 171 - 180, 15.08.2021
https://doi.org/10.35860/iarej.833538

Abstract

Project Number

161731002

References

  • 1. Gürgül, S., Uzun, C., and Erdal, N., Kemik biyomekaniği. Gaziosmanpaşa Üniversitesi Tıp Fakültesi Dergisi, 2016. 8(1): p. 18-34.
  • 2. Naranjo, J., Miguel, C., Romero, M., and Saez L., Structural numerical analysis of a three fingers prosthetic hand prototype. International Journal of Physical Sciences, 2013. 8(13): p. 526-536.
  • 3. Clement, R.G., Bugler, K.E., and Oliver, C.W., Bionic prosthetic hands: A review of present technology and future aspirations. Surgeon, 2011. 9(6): p. 336-340.
  • 4. Pouliquen, M., Bernard, A., Marsot, J., and Chodorge, L., Virtual Hands And Virtual Reality Multimodal Platform To Design Safer Industrial Systems. Computers in Industry, 2007. 58(1): p. 46-56.
  • 5. Kerpa, O., Osswald, D., Yigit, S., Burghart, C., and Woern, H., Arm-hand control by tactile sensing for human robot co-operation. Proc.Humanoids’2003, 1(1): p. 1-12.
  • 6. Butz, K.D., Merrell, G., and Nauman, E.A., A biomechanical analysis of finger joint forces and stresses developed during common daily activities. Computer Methods in Biomechanics and Biomedical Engineering, 2012. 15(2): p. 131-140.
  • 7. Dechev, N., Cleghorn,W.L., and Naumann, S., Multiple finger, passive adaptive grasp prosthetic hand. Mechanism and Machine Theory, 2001. 36(10): p. 1157-1173.
  • 8. El Kady, A.M., Mahfouz, A.E., and Taher, M.F., Mechanical design of an anthropomorphic prosthetic hand for shape memory alloy actuation. In: 2010 5th Cairo International Biomedical Engineering Conference, CIBEC 2010, 2010. p. 1157-1173.
  • 9. Kuran, B., El rehabilitasyonu. 1995, Nobel Tıp Kitapları.
  • 10. Durand, R., Pantoja-Rosero, B., and Oliveria, V., A general mesh smoothing method for finite elements. Finite Elements in Analysis and Design, 2019. 158(1): p. 17-30.
  • 11. Weightman, B., and Amis, A.A., Finger joint force predictions related to design of joint replacements. J Biomed Eng., 1982. 4(3): p. 197-205.
  • 12. Atasoy, A., Kuchimov, S., Toptas, E., Kaplanoglu, E., Takka, S., and Ozkan, M., Finger design for anthropomorphic prosthetic hands. 2014 18th National Biomedical Engineering Meeting, BIYOMUT 2014, 2015. p. 1-3.
  • 13. Özkan, S.S., Karayel, D., Atalı, G., and Gökbayrak, I., Esnek Algılayıcı Kontrollü Robot El Tasarımı ve Gerçeklenmesi. Academic Platform Journal of Engineering and Science, 2017. p. 35-40.
  • 14. Carozza, M.C., Cappiello, G., Stellin, G., Zaccone, F., Vecchi, F., Micera, S., and Dario, P., On the development of a novel adaptive prosthetic hand with compliant joints: experimental platform and emg control. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005. p. 1271-1276.
  • 15. Anatomical hand structure. [cited 2020 29 Nov]; Available from:http://pulpbits.net/4-human-skeleton-hand- diagrams/animation-of-skeleton-hands.
  • 16. Lin, J.,Wu, Y., and Huang, T.S., Modeling the constraints of human hand motion. Proceedings, Workshop on Human Motion, HUMO, 2000. 7(2): p. 121-126.
  • 17. Cobos, S., Ferre, M.and Sanchéz-Urán, M.A., Ortego, J., and Peña, C., Efficient human hand kinematics for manipulation tasks. In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2008. 8(3): p. 2246-2251.
  • 18. Ryew, S., and Choi, H., Double active universal joint (dauj): Robotic joint mechanism for humanlike motions. IEEE Transactions on Robotics and Automation, 2001. 17(2): p. 290-300.
  • 19. Xu, Z., and Todorov, E., Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration. Proceedings - IEEE International Conference on Robotics and Automation, 2016. 12(2): p. 3485-3492.
  • 20. Joseacute, A.L.N., Christopher, R.T.S.M., Manuel, F.C.R., and Ez Luis, M.N.S., Structural numerical analysis of a three fingers prosthetic hand prototype. International Journal of Physical Sciences, 2013. 8(3): p. 526-536.
  • 21. Harih, G., Tada, M., and Dolšak, B., Justification for a 2d versus 3d fingertip finite element model during static contact simulations. Computer Methods in Biomechanics and Biomedical Engineering, 2016. 19(3): p. 1409-1417.
  • 22. Antoanela, N., Ardelean, D., and Srl, T., The application of the finite element method in the biomechanics of the human upper limb and of some prosthetic components. WSEAS Transactions on Computers, 2009. 8(2): p. 1296-1305.
  • 23. Gray, H., Warwick, R., and Williams, P.L., Gray’s Anatomy. 1973, 35 ed., Longman.
  • 24. Kouchi, M., and Tada, M., Digital Hand: Interface Between the Robot Hand and Human Hand. Human Inspried Dexterity in Robotic Manupilation, Academic Press, 2018. 11(3): p. 11-26.
  • 25. Vishwakarma, P., and Sharma, A., 3d finite element analysis of milling process for non-ferrous metal using deform-3d. Materials Today, Proceedings, 2019. 26(2): p. 2726-2733.
  • 26. Anatomic finger structure. [cited 2020 29 Nov]; Available from: https://en.wikipedia.org/wiki/Thumb. Web. 29 Nov 2020.

Mathematical modeling and production of semi-active hand prosthesis from clear resin

Year 2021, , 171 - 180, 15.08.2021
https://doi.org/10.35860/iarej.833538

Abstract

In this study, the static, kinematic and dynamic behaviors of a semi-active hand prosthesis were analyzed numerically. Finite Elements method was used in static analysis and analytical method was used in kinematic and dynamic analysis. The mathematical model of the hand was created in kinematic and dynamic analysis. Using the mathematical model obtained, torque values of 0, 15, 30, 45, 60, 75, 90 degrees were calculated according to the different position angles of the fingers. Examination was performed for 4 fingers (index finger, middle finger, ring finger, little finger) and 5 kg of force was applied to the fingertips perpendicular to the finger plane. In this examination, the forces are divided into 25% for the index finger, 35% for the middle finger, 25% for the ring finger and 15% for the little finger. The results obtained for forces at different angles under the specified conditions were explained. As a result of all these stages, the prosthetic hand was designed. The design was calculated as linear statically by the finite element method. As a result of the study, a semi-active prosthetic hand was produced considering the calculation findings. Clear resin was used as material.

Supporting Institution

Necmettin Erbakan University Scientific Research Projects Coordinators

Project Number

161731002

References

  • 1. Gürgül, S., Uzun, C., and Erdal, N., Kemik biyomekaniği. Gaziosmanpaşa Üniversitesi Tıp Fakültesi Dergisi, 2016. 8(1): p. 18-34.
  • 2. Naranjo, J., Miguel, C., Romero, M., and Saez L., Structural numerical analysis of a three fingers prosthetic hand prototype. International Journal of Physical Sciences, 2013. 8(13): p. 526-536.
  • 3. Clement, R.G., Bugler, K.E., and Oliver, C.W., Bionic prosthetic hands: A review of present technology and future aspirations. Surgeon, 2011. 9(6): p. 336-340.
  • 4. Pouliquen, M., Bernard, A., Marsot, J., and Chodorge, L., Virtual Hands And Virtual Reality Multimodal Platform To Design Safer Industrial Systems. Computers in Industry, 2007. 58(1): p. 46-56.
  • 5. Kerpa, O., Osswald, D., Yigit, S., Burghart, C., and Woern, H., Arm-hand control by tactile sensing for human robot co-operation. Proc.Humanoids’2003, 1(1): p. 1-12.
  • 6. Butz, K.D., Merrell, G., and Nauman, E.A., A biomechanical analysis of finger joint forces and stresses developed during common daily activities. Computer Methods in Biomechanics and Biomedical Engineering, 2012. 15(2): p. 131-140.
  • 7. Dechev, N., Cleghorn,W.L., and Naumann, S., Multiple finger, passive adaptive grasp prosthetic hand. Mechanism and Machine Theory, 2001. 36(10): p. 1157-1173.
  • 8. El Kady, A.M., Mahfouz, A.E., and Taher, M.F., Mechanical design of an anthropomorphic prosthetic hand for shape memory alloy actuation. In: 2010 5th Cairo International Biomedical Engineering Conference, CIBEC 2010, 2010. p. 1157-1173.
  • 9. Kuran, B., El rehabilitasyonu. 1995, Nobel Tıp Kitapları.
  • 10. Durand, R., Pantoja-Rosero, B., and Oliveria, V., A general mesh smoothing method for finite elements. Finite Elements in Analysis and Design, 2019. 158(1): p. 17-30.
  • 11. Weightman, B., and Amis, A.A., Finger joint force predictions related to design of joint replacements. J Biomed Eng., 1982. 4(3): p. 197-205.
  • 12. Atasoy, A., Kuchimov, S., Toptas, E., Kaplanoglu, E., Takka, S., and Ozkan, M., Finger design for anthropomorphic prosthetic hands. 2014 18th National Biomedical Engineering Meeting, BIYOMUT 2014, 2015. p. 1-3.
  • 13. Özkan, S.S., Karayel, D., Atalı, G., and Gökbayrak, I., Esnek Algılayıcı Kontrollü Robot El Tasarımı ve Gerçeklenmesi. Academic Platform Journal of Engineering and Science, 2017. p. 35-40.
  • 14. Carozza, M.C., Cappiello, G., Stellin, G., Zaccone, F., Vecchi, F., Micera, S., and Dario, P., On the development of a novel adaptive prosthetic hand with compliant joints: experimental platform and emg control. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005. p. 1271-1276.
  • 15. Anatomical hand structure. [cited 2020 29 Nov]; Available from:http://pulpbits.net/4-human-skeleton-hand- diagrams/animation-of-skeleton-hands.
  • 16. Lin, J.,Wu, Y., and Huang, T.S., Modeling the constraints of human hand motion. Proceedings, Workshop on Human Motion, HUMO, 2000. 7(2): p. 121-126.
  • 17. Cobos, S., Ferre, M.and Sanchéz-Urán, M.A., Ortego, J., and Peña, C., Efficient human hand kinematics for manipulation tasks. In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2008. 8(3): p. 2246-2251.
  • 18. Ryew, S., and Choi, H., Double active universal joint (dauj): Robotic joint mechanism for humanlike motions. IEEE Transactions on Robotics and Automation, 2001. 17(2): p. 290-300.
  • 19. Xu, Z., and Todorov, E., Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration. Proceedings - IEEE International Conference on Robotics and Automation, 2016. 12(2): p. 3485-3492.
  • 20. Joseacute, A.L.N., Christopher, R.T.S.M., Manuel, F.C.R., and Ez Luis, M.N.S., Structural numerical analysis of a three fingers prosthetic hand prototype. International Journal of Physical Sciences, 2013. 8(3): p. 526-536.
  • 21. Harih, G., Tada, M., and Dolšak, B., Justification for a 2d versus 3d fingertip finite element model during static contact simulations. Computer Methods in Biomechanics and Biomedical Engineering, 2016. 19(3): p. 1409-1417.
  • 22. Antoanela, N., Ardelean, D., and Srl, T., The application of the finite element method in the biomechanics of the human upper limb and of some prosthetic components. WSEAS Transactions on Computers, 2009. 8(2): p. 1296-1305.
  • 23. Gray, H., Warwick, R., and Williams, P.L., Gray’s Anatomy. 1973, 35 ed., Longman.
  • 24. Kouchi, M., and Tada, M., Digital Hand: Interface Between the Robot Hand and Human Hand. Human Inspried Dexterity in Robotic Manupilation, Academic Press, 2018. 11(3): p. 11-26.
  • 25. Vishwakarma, P., and Sharma, A., 3d finite element analysis of milling process for non-ferrous metal using deform-3d. Materials Today, Proceedings, 2019. 26(2): p. 2726-2733.
  • 26. Anatomic finger structure. [cited 2020 29 Nov]; Available from: https://en.wikipedia.org/wiki/Thumb. Web. 29 Nov 2020.
There are 26 citations in total.

Details

Primary Language English
Subjects Biomedical Engineering, Mechanical Engineering
Journal Section Research Articles
Authors

Mehmet Kayrıcı This is me 0000-0003-1178-5168

Yusuf Uzun 0000-0002-7061-8784

Onur Gök 0000-0003-1160-1963

Hüseyin Arıkan This is me 0000-0003-1266-4982

Project Number 161731002
Publication Date August 15, 2021
Submission Date November 30, 2020
Acceptance Date April 13, 2021
Published in Issue Year 2021

Cite

APA Kayrıcı, M., Uzun, Y., Gök, O., Arıkan, H. (2021). Mathematical modeling and production of semi-active hand prosthesis from clear resin. International Advanced Researches and Engineering Journal, 5(2), 171-180. https://doi.org/10.35860/iarej.833538
AMA Kayrıcı M, Uzun Y, Gök O, Arıkan H. Mathematical modeling and production of semi-active hand prosthesis from clear resin. Int. Adv. Res. Eng. J. August 2021;5(2):171-180. doi:10.35860/iarej.833538
Chicago Kayrıcı, Mehmet, Yusuf Uzun, Onur Gök, and Hüseyin Arıkan. “Mathematical Modeling and Production of Semi-Active Hand Prosthesis from Clear Resin”. International Advanced Researches and Engineering Journal 5, no. 2 (August 2021): 171-80. https://doi.org/10.35860/iarej.833538.
EndNote Kayrıcı M, Uzun Y, Gök O, Arıkan H (August 1, 2021) Mathematical modeling and production of semi-active hand prosthesis from clear resin. International Advanced Researches and Engineering Journal 5 2 171–180.
IEEE M. Kayrıcı, Y. Uzun, O. Gök, and H. Arıkan, “Mathematical modeling and production of semi-active hand prosthesis from clear resin”, Int. Adv. Res. Eng. J., vol. 5, no. 2, pp. 171–180, 2021, doi: 10.35860/iarej.833538.
ISNAD Kayrıcı, Mehmet et al. “Mathematical Modeling and Production of Semi-Active Hand Prosthesis from Clear Resin”. International Advanced Researches and Engineering Journal 5/2 (August 2021), 171-180. https://doi.org/10.35860/iarej.833538.
JAMA Kayrıcı M, Uzun Y, Gök O, Arıkan H. Mathematical modeling and production of semi-active hand prosthesis from clear resin. Int. Adv. Res. Eng. J. 2021;5:171–180.
MLA Kayrıcı, Mehmet et al. “Mathematical Modeling and Production of Semi-Active Hand Prosthesis from Clear Resin”. International Advanced Researches and Engineering Journal, vol. 5, no. 2, 2021, pp. 171-80, doi:10.35860/iarej.833538.
Vancouver Kayrıcı M, Uzun Y, Gök O, Arıkan H. Mathematical modeling and production of semi-active hand prosthesis from clear resin. Int. Adv. Res. Eng. J. 2021;5(2):171-80.



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