Methods for the design and evaluation of anthropomorphic artificial hands
The objective of this thesis is to contribute to the definition of applicable methods during the design process of artificial hands in order to obtain more anthropomorphic and functional designs, as well as to define metrics and protocols that help evaluate these aspects. The proposed methods are fo...
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| Tipo de recurso: | tesis doctoral |
| Estado: | Versión publicada |
| Fecha de publicación: | 2020 |
| País: | España |
| Institución: | CBUC, CESCA |
| Repositorio: | TDR. Tesis Doctorales en Red |
| OAI Identifier: | oai:www.tdx.cat:10803/669265 |
| Acceso en línea: | http://hdl.handle.net/10803/669265 http://dx.doi.org/10.6035/14107.2020.692882 |
| Access Level: | acceso abierto |
| Palabra clave: | Anthropomorphism Benchmarking Grasping Indexes Prosthetic hand 3D printing Enginyeria, indústria i construcció 531/534 68 |
| Sumario: | The objective of this thesis is to contribute to the definition of applicable methods during the design process of artificial hands in order to obtain more anthropomorphic and functional designs, as well as to define metrics and protocols that help evaluate these aspects. The proposed methods are focused on the mechanical design of any anthropomorphic hand, both in the prosthetic and robotic fields, although in this thesis greater emphasis has been placed on hands designed for 3D printing, given its growing popularity and accessibility and its potential impact on society. Most of the developments and proposals made are based on biomechanical aspects obtained from the analysis of the human hand. In this thesis, the evaluation of the degree of anthropomorphism of artificial hands has been approached from three complementary perspectives: experimentation, definition of analytical indexes and simulation by means of models. |
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