Jeong, Gu-Cheol Kim, Yeoeun Choi, Wooseong Kim, Keehoon Lee, Hyun-Joo Hong, Man Bok Gu, Gangyong 2024-01-19T10:08:24Z 2024-01-19T10:08:24Z 2022-02-28 2019-06 1945-7901 https://pubs.kist.re.kr/handle/201004/114087 This paper presents a novel robotic finger prosthesis for partially amputated patients who have lost a thumb and index finger. The challenging issues were to design i) a three degree-of-freedom (DOF) underactuated mechanism that mimics intact finger movements including motion profiles and self-adaptation for unknown constraints, ii) an attachment socket for everyday life that allows ease of donning and doffing, and comfortable wearability, and iii) a shape to pack the selected components including an actuator, linkages, and sensors into a limited space avoiding motion interference with other intact fingers and wrist. This paper reports our effort to solve the challenging issues. The proposed three-DOF prosthetic finger can generate 4.6N pinch force and 99.4 degrees/s angular velocity at the MCP joints. For command signals, surface-electromyogram (sEMG) sensors were used. This enables users to operate the fingers with certain configuration and grasping force. The performance of the proposed design was verified through the box-and-block test and bottle opening test with a patient who has a partially amputated hand. English IEEE On the Design of a Novel Underactuated Robotic Finger Prosthesis for Partial Hand Amputation Conference 1 16th IEEE International Conference on Rehabilitation Robotics (ICORR), pp.861 - 867 16th IEEE International Conference on Rehabilitation Robotics (ICORR) 861 867 US Toronto, CANADA 2019-06-24 2019 IEEE 16TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR) 000570975800141 2-s2.0-85071172984