{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/97463"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/97463","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Development of a low-cost high-impact resistant compliant myoelectric prosthetic hand","abstract":"Repeated mechanical failure due to accidental impact and lack of sensory feedback are one of the main reasons why people with upper-limb amputations abandon commercially-available prosthetic hands. To address this problem, this thesis presents the design and evaluation of a compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant and the integration of electromyographic (EMG) motor control and sensory substitution. The mechanism of our design replaces both the rigid input and coupler links with a monolithic compliant bone, and replaces the follower link with three layers of pre-stressed spring steel. This design behaves like a conventional four-bar linkage but adds lateral compliance and eliminates a pin joint, which is a main site of failure on impact. We introduce the fabrication process of the compliant finger and palm that enables the 3-D printed low-cost prosthetic hand to be impact resistant. This fabrication process and hand design enables the development of the prosthetic hand to be low-cost, light-weight, and easy to assemble and reproducible. Results from free-end and fixed-end impact tests show that, compared to those made with a conventional four-bar linkage, fingers made with our design absorb up to 11 % more energy on impact with no mechanical failure. Also our hand showed that it has grasping performance comparable to commercially-available hands. We also evaluate the sensorimotor capabilites of our hand with a subject with a transradial amputation. We show that using contact reflexes and sensory substitution, when compared to standard myoelectric prostheses that lack these features, improves grasping of delicate objects like an eggshell and a cup of water both with and without visual feedback. Our hand is easily integrated into standard sockets, facilitating long-term testing of sensorimotor capabilities.","abstract_html":"Repeated mechanical failure due to accidental impact and lack of sensory feedback are one of the main reasons why people with upper-limb amputations abandon commercially-available prosthetic hands. To address this problem, this thesis presents the design and evaluation of a compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant and the integration of electromyographic (EMG) motor control and sensory substitution. The mechanism of our design replaces both the rigid input and coupler links with a monolithic compliant bone, and replaces the follower link with three layers of pre-stressed spring steel. This design behaves like a conventional four-bar linkage but adds lateral compliance and eliminates a pin joint, which is a main site of failure on impact. We introduce the fabrication process of the compliant finger and palm that enables the 3-D printed low-cost prosthetic hand to be impact resistant. This fabrication process and hand design enables the development of the prosthetic hand to be low-cost, light-weight, and easy to assemble and reproducible. Results from free-end and fixed-end impact tests show that, compared to those made with a conventional four-bar linkage, fingers made with our design absorb up to 11 % more energy on impact with no mechanical failure. Also our hand showed that it has grasping performance comparable to commercially-available hands. We also evaluate the sensorimotor capabilites of our hand with a subject with a transradial amputation. We show that using contact reflexes and sensory substitution, when compared to standard myoelectric prostheses that lack these features, improves grasping of delicate objects like an eggshell and a cup of water both with and without visual feedback. Our hand is easily integrated into standard sockets, facilitating long-term testing of sensorimotor capabilities.","abstract_has_math":false,"creators":["Choi, Kyung Yun"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Aerospace Engineering","degree_department":null,"school":null,"contributors":["Bretl, Timothy Wolfe"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-08-10T19:16:05Z","date_published":"2017-08-10T19:16:05Z","updated_at":"2026-07-22T22:24:34Z","subjects":["Robotic hand","Myoelectric hand","Prosthetic hand","Compliant mechanism","Soft robotics","Manufacturing","Fabrication","3D printing","Additive manufacturing","Low-cost","Open source","Sensory feedback","Design"],"languages":["en"],"rights":["Copyright 2017 Kyung Yun Choi"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/97463","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Bretl, Timothy Wolfe"]},{"key":"dc:creator","label":"Author","values":["Choi, Kyung Yun"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-08-10T19:16:05Z","2017-04-28","2017-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotic hand","Myoelectric hand","Prosthetic hand","Compliant mechanism","Soft robotics","Manufacturing","Fabrication","3D printing","Additive manufacturing","Low-cost","Open source","Sensory feedback","Design"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2017 Kyung Yun Choi"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/97463"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Repeated mechanical failure due to accidental impact and lack of sensory feedback are one of the main reasons why people with upper-limb amputations abandon commercially-available prosthetic hands. To address this problem, this thesis presents the design and evaluation of a compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant and the integration of electromyographic (EMG) motor control and sensory substitution. The mechanism of our design replaces both the rigid input and coupler links with a monolithic compliant bone, and replaces the follower link with three layers of pre-stressed spring steel. This design behaves like a conventional four-bar linkage but adds lateral compliance and eliminates a pin joint, which is a main site of failure on impact. We introduce the fabrication process of the compliant finger and palm that enables the 3-D printed low-cost prosthetic hand to be impact resistant. This fabrication process and hand design enables the development of the prosthetic hand to be low-cost, light-weight, and easy to assemble and reproducible. Results from free-end and fixed-end impact tests show that, compared to those made with a conventional four-bar linkage, fingers made with our design absorb up to 11 % more energy on impact with no mechanical failure. Also our hand showed that it has grasping performance comparable to commercially-available hands. We also evaluate the sensorimotor capabilites of our hand with a subject with a transradial amputation. We show that using contact reflexes and sensory substitution, when compared to standard myoelectric prostheses that lack these features, improves grasping of delicate objects like an eggshell and a cup of water both with and without visual feedback. Our hand is easily integrated into standard sockets, facilitating long-term testing of sensorimotor capabilities.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms","The student, Kyung Yun Choi, accepted the attached license on 2017-04-27 at 16:22.","The student, Kyung Yun Choi, submitted this Thesis for approval on 2017-04-28 at 16:14.","This Thesis was approved for publication on 2017-04-28 at 16:31.","DSpace SAF Submission Ingestion Package generated from Vireo submission #11029 on 2017-08-10 at 13:45:58","Made available in DSpace on 2017-08-10T19:16:05Z (GMT). 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To address this problem, this thesis presents the design and evaluation of a compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant and the integration of electromyographic (EMG) motor control and sensory substitution. The mechanism of our design replaces both the rigid input and coupler links with a monolithic compliant bone, and replaces the follower link with three layers of pre-stressed spring steel. This design behaves like a conventional four-bar linkage but adds lateral compliance and eliminates a pin joint, which is a main site of failure on impact. We introduce the fabrication process of the compliant finger and palm that enables the 3-D printed low-cost prosthetic hand to be impact resistant. This fabrication process and hand design enables the development of the prosthetic hand to be low-cost, light-weight, and easy to assemble and reproducible. Results from free-end and fixed-end impact tests show that, compared to those made with a conventional four-bar linkage, fingers made with our design absorb up to 11 % more energy on impact with no mechanical failure. Also our hand showed that it has grasping performance comparable to commercially-available hands. We also evaluate the sensorimotor capabilites of our hand with a subject with a transradial amputation. We show that using contact reflexes and sensory substitution, when compared to standard myoelectric prostheses that lack these features, improves grasping of delicate objects like an eggshell and a cup of water both with and without visual feedback. Our hand is easily integrated into standard sockets, facilitating long-term testing of sensorimotor capabilities.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms","The student, Kyung Yun Choi, accepted the attached license on 2017-04-27 at 16:22.","The student, Kyung Yun Choi, submitted this Thesis for approval on 2017-04-28 at 16:14.","This Thesis was approved for publication on 2017-04-28 at 16:31.","DSpace SAF Submission Ingestion Package generated from Vireo submission #11029 on 2017-08-10 at 13:45:58","Made available in DSpace on 2017-08-10T19:16:05Z (GMT). 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