REDESIGN AND MANUFACTURE OF A SIX-BAR LINKAGE BIONIC HAND WITH LINEAR ACTUATORS

• Main Author: Kau, Josephine
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/69003
• Institution: Institut Teknologi Bandung

The human hand is one of the most complex mechanisms in the human body. While most people take their hands for granted, there are people with amputated upper limbs among the different types of disabilities. Although many manufacturers have produced bionic hands, most of them are not suited to the anthropometry of Indonesians. The Biomechanics Research Team in FTMD ITB seeks to develop suitable, functional bionic hand with an objective to further advance the design and technology of bionic hands in Indonesia. Prior to redesigning and manufacturing the prototype, the writer does research and evaluation on existing bionic hands and previous prototypes in order to formulate the design requirements and objectives of this research. Both mechanical and electrical aspects of this bionic hand are evaluated and adjusted accordingly. Components are manufactured, assembled, and the new prototype is finally tested to perform the four grip patterns programmed. Finally, the performance of the prototype is evaluated as feedback and input for future developments of the bionic hand. The previous researcher manufactures a prototype with an adjustable socket capable to operate four grip patterns. Based on evaluations of the previous prototype, there are several aspects that need improvements. One of the major changes from the previous prototype is substituting the servo motors with linear actuators with hopes to reduce the thickness and width of the palm. With this modification, the six-bar linkage mechanism of the fingers needs improvements along with design adjustments of the overall hand. The new prototype is finally tested and manages to perform four grip patterns to grasp several objects.