The design of a robotic hand with multiple actuators for children

Abstract

This thesis details the development of a multi actuated hand designed for a five year old child. The thesis discusses the different methods of powering, controlling and manufacturing prosthetic devices; specifying the options chosen for this project.
Following a feasibility study into advanced paediatric prosthetics (Redman et al., 2011), this research has aimed at improving the state of the art. It presents a modular device that has a powered opposable thumb and four individually powered fingers. A study into curling finger designs has produced a novel curling design that combines a natural closure trajectory with a mechanical advantage that is higher than other curling fingers. The final research represents a significant step in improving the functionality of prosthetic hands for children. Curling fingers and a driven opposable thumb are both abilities that have not been presented in devices aimed at children. The hand compares favourably to all commercially available paediatric prosthetic hands and advanced adult devices.
The final point of this design that separates it from devices designed specifically for adults is that it can be easily scaled to produce versions for a range of age groups up to and including adults. This allows the research to start to address the issue of out-growing prosthesis. The device includes interchangeable modular parts that allow the hand to be "grown" with the child. These points are all aimed at increasing the acceptance of the child prosthesis. Acceptance of a device is the key to good prosthetic fitment. If the device is not fitted and then subsequently worn it renders any advancements inconsequential.
To allow regular replacement of parts the modules have been designed to be low cost enough to be considered disposable. To achieve this, an evaluation of the feasibility of using rapid prototyping as a construction material for prosthetic devices has been completed, which concludes that the right printed material is suitable for this application. These features combine to deliver a device for children with a high level of dexterity that has only previously been seen on advanced adult devices. Thus, this thesis provided the basis for next generation rehabilitation devices for the next generation.

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