Biyonik Elin Dört Parmağı İçin Kinematik Analiz ve Kavrama Geliştirme Tasarım Yaklaşımı

Öz

Bu çalışma, mekanik tasarım ve kinematik analize odaklanarak, biyonik bir el protezinin tasarımını ve geliştirilmesini sunmaktadır. Bu projenin temel amacı, işlevsel ve uyarlanabilir bir protez çözümü sağlayarak ampute bireylerin yaşam kalitesini iyileştirmektir. İnsan elinin kinematik anatomisini yakından taklit etmeyi amaçlayan mekanik tasarım, biyonik elin dört parmağının sürekli olarak bir daireyi kavramasını sağlayan kinematik yapıya odaklanmaktadır. Biyonik elin kavrama hareketini garanti altına almak için kinematik analizler yapılmıştır. Kinematik analiz sonuçlarına dayanarak, ayrıntılı bir mekanik tasarım ve üretim süreci gerçekleştirilmiş ve ardından testler yapılmıştır. Kinematik analizin entegrasyonu, insan niyeti ile protez performansı arasındaki boşluğu kapatmayı ve kusursuz ve doğal bir kullanıcı deneyimi sağlamayı amaçlamaktadır.

Anahtar Kelimeler

• Biyonik El
• Kinematik
• Protezler
• Mekanik Tasarım
• Robotik

Kinematic Analysis and Grasp-Enhancing Design Approach for the Four Fingers of a Bionic Hand

Öz

This study presents the design and development of a bionic hand prosthesis, focusing on mechanical design and kinematic analysis. The main objective of this project is to improve the quality of life for amputees by providing a functional and adaptable prosthetic solution. The mechanical design, aiming to closely mimic the kinematic anatomy of the human hand, focuses on the kinematic structure that allows the four fingers of the bionic hand to continuously grasp a circle. Kinematic analyses were performed to guarantee the grasping movement of the bionic hand. Based on the results of the kinematic analysis, a detailed mechanical design and manufacturing process was carried out, followed by testing. The integration of kinematic analysis aims to bridge the gap between human intent and prosthetic performance, ensuring a seamless and natural user experience.

Anahtar Kelimeler

• Bionic Hand
• Kinematic
• Prosthetics
• Mechanical Design
• Robotic

Kaynakça

1. 1. K. Guo, Z. Yang, et al., "The Latest Research Progress on Bionic Artificial Hands: A Systematic Review," Micromachines, vol. 15, no. 7, p. 891, 2024.
2. 2. R. Damerla, Y. Qiu, T. M. Sun, and S. Awtar, "A Review of the Performance of Extrinsically Powered Prosthetic Hands," IEEE Transactions on Medical Robotics and Bionics, vol. 3, no. 3, pp. 640–660, 2021.
3. 3. A. Touillet et al., "Kinematic Analysis of Impairments and Compensatory Motor Behavior During Prosthetic Grasping in Below-Elbow Amputees," Journal of NeuroEngineering and Rehabilitation, vol. 19, no. 1, 2022.
4. 4. E. Boudreault, T. Laliberté, and C. Gosselin, "Novel Kinematics of an Anthropomorphic Prosthetic Hand Allowing Lateral and Opposite Grasp with a Single Actuator," ASME Journal of Computational and Nonlinear Dynamics, vol. 18, no. 6, p. 061005, 2023.
5. 5. Z. He, Y. Kang, and D. Shin, "A Design of Anthropomorphic Hand based on Human Finger Anatomy," 2020 International Symposium on Community-centric Systems (CcS), 2020.
6. 6. Z. Xu and E. Todorov, "An Anthropomorphic Robotic Finger with Innate Human-Finger-Like Biomechanical Advantages — Part I: Design, Ligamentous Joint, and Extensor Mechanism," IEEE Robotics and Automation Letters, vol. 1, no. 1, pp. 312-319, 2016.
7. 7. D. Yoon and Y. Choi, "Development of an Anthropomorphic Prosthetic Hand with Underactuated Mechanism," Applied Sciences, vol. 10, no. 12, p. 4384, 2020.
8. 8. M. Cheng, L. Jiang, and Z. Liu, "Design and Optimization of an Anthropomorphic Robot Finger," Biomimetics, vol. 10, no. 3, p. 170, 2025.

9. 9. W. Park and J. Bae, "Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand," Micromachines, vol. 12, no. 1, p. 33, 2021.
10. 10. E. F. Lunguţ, L. Matei, M. M. Roşu, M. Iliescu, and C. Radu, "Biomechanical Hand Prosthesis Design," Machines, vol. 11, no. 10, p. 964, 2023.
11. 11. J. Varley, J. Weisz, J. Weiss, and P. Allen, "Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
12. 12. J. Wang et al., "Bionic Design of Universal Gripper for Nursing Robot with Hybrid Joints and Variable Equivalent Link Length," Mechanism and Machine Theory, 2022.
13. 13. H. Gürbüz, "El parmak eklemlerinin hareket kapasitelerinin inklinometrik yöntemle ölçümü," M.Sc. Thesis, Trakya Üniversitesi, Edirne, Turkey, 2003.
14. 14. Y. Low and K. Huang, "Initial Analysis and Design of an Assistive Rehabilitation Hand Device with Free Loading and Fingers Motion Visible to Subjects," in Proc. 2008 IEEE International Conference on Systems, Man and Cybernetics (SMC), pp. 2584–2590, 2008.