Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre

[EN] Objective: A kinematic model of a hand prosthesis to study its behavior for different grip patterns is presented. Methodology: Initially, the anatomy and biomechanics of the hand with its movement limitations are summarized to obtain the design parameters that allow for obtaining a functional h...

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Authors: Mejía Calderón, Luz Adriana, Agudelo Rendón, Andrés Fernando, Díaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957
Format: article
Publication Date:2025
Country:España
Institution:Universitat Politècnica de València (UPV)
Repository:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Language:Spanish
OAI Identifier:oai:dnet:riunet______::f85e2bb40de43473162caa721c7fb429
Online Access:https://riunet.upv.es/handle/10251/235426
Access Level:Open access
Keyword:Mano robótica
Cinemática directa
Cinemática inversa
Agarres
Robotic hand prosthesis
Direct kinematics
Inverse kinematics
Grip
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network_acronym_str ES
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spelling Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarreKinematics analysis of a hand prosthesis prototype for various types of gripsMejía Calderón, Luz AdrianaAgudelo Rendón, Andrés FernandoDíaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957Mano robóticaCinemática directaCinemática inversaAgarresRobotic hand prosthesisDirect kinematicsInverse kinematicsGrip[EN] Objective: A kinematic model of a hand prosthesis to study its behavior for different grip patterns is presented. Methodology: Initially, the anatomy and biomechanics of the hand with its movement limitations are summarized to obtain the design parameters that allow for obtaining a functional hand structure. The mathematical models of the direct and inverse kinematics are developed and compared with the results obtained from commercial multibody simulation software. Results: The error in the direct and inverse kinematic models of the index finger of the prosthesis analyzed is low for the spherical and cylindrical grip. In the lateral grasp, an error of medium magnitude, approximately 7 %, was obtained. For the thumb, the error was negligible. Conclusions: Upon completion of the process, a functional prototype is obtained with fewer degrees of freedom compared to a real hand and with good accuracy regarding its kinematic response.Universidad Tecnológica de PereiraUniversidad Distrital Francisco Jose de CaldasDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialUniversidad Tecnológica de Pereira, ColombiaRepositorio Institucional de la Universitat Politècnica de València Riunet20252025-03-31journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://riunet.upv.es/handle/10251/235426reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)Españolspaopen accesshttp://purl.org/coar/access_right/c_abf2Reconocimiento - Compartir igual (by-sa) http://creativecommons.org/licenses/by-sa/4.0/info:eu-repo/semantics/openAccessoai:dnet:riunet______::f85e2bb40de43473162caa721c7fb4292026-06-13T07:49:27Z
dc.title.none.fl_str_mv Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre
Kinematics analysis of a hand prosthesis prototype for various types of grips
title Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre
spellingShingle Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre
Mejía Calderón, Luz Adriana
Mano robótica
Cinemática directa
Cinemática inversa
Agarres
Robotic hand prosthesis
Direct kinematics
Inverse kinematics
Grip
title_short Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre
title_full Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre
title_fullStr Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre
title_full_unstemmed Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre
title_sort Análisis cinemático de un prototipo de prótesis de mano para varios tipos de agarre
dc.creator.none.fl_str_mv Mejía Calderón, Luz Adriana
Agudelo Rendón, Andrés Fernando
Díaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957
author Mejía Calderón, Luz Adriana
author_facet Mejía Calderón, Luz Adriana
Agudelo Rendón, Andrés Fernando
Díaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957
author_role author
author2 Agudelo Rendón, Andrés Fernando
Díaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957
author2_role author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Universidad Tecnológica de Pereira, Colombia
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Mano robótica
Cinemática directa
Cinemática inversa
Agarres
Robotic hand prosthesis
Direct kinematics
Inverse kinematics
Grip
topic Mano robótica
Cinemática directa
Cinemática inversa
Agarres
Robotic hand prosthesis
Direct kinematics
Inverse kinematics
Grip
description [EN] Objective: A kinematic model of a hand prosthesis to study its behavior for different grip patterns is presented. Methodology: Initially, the anatomy and biomechanics of the hand with its movement limitations are summarized to obtain the design parameters that allow for obtaining a functional hand structure. The mathematical models of the direct and inverse kinematics are developed and compared with the results obtained from commercial multibody simulation software. Results: The error in the direct and inverse kinematic models of the index finger of the prosthesis analyzed is low for the spherical and cylindrical grip. In the lateral grasp, an error of medium magnitude, approximately 7 %, was obtained. For the thumb, the error was negligible. Conclusions: Upon completion of the process, a functional prototype is obtained with fewer degrees of freedom compared to a real hand and with good accuracy regarding its kinematic response.
publishDate 2025
dc.date.none.fl_str_mv 2025
2025-03-31
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/235426
url https://riunet.upv.es/handle/10251/235426
dc.language.none.fl_str_mv Español
spa
language_invalid_str_mv Español
language spa
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento - Compartir igual (by-sa)
http://creativecommons.org/licenses/by-sa/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento - Compartir igual (by-sa)
http://creativecommons.org/licenses/by-sa/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidad Distrital Francisco Jose de Caldas
publisher.none.fl_str_mv Universidad Distrital Francisco Jose de Caldas
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869408486730760192
score 15,198674

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