Prototipo de mano robótica antropométrica sub-actuada

This paper describes the methodology applied to obtain a functional prototype of a robotic hand considering anthropometric characteristics. An analysis by image processing is made from computerized tomographics (CT) to generate a model of the prototype which is then utilized for the development of the analytical study for the synthesis of a four bar sub-mechanism suitable to generate optimal trajectories to grasp objects in a manner such as puntual, palmar, lateral, cylindrical and spherical. In this sense, the scientific and technological relevance obtained from this work is based on the diversity of the device executed movements in addition to its ability to adapt different auxiliary components to perform some function with the amputated trunnion member, so that the system is designed to be applicable as a prosthesis. In this sense, this proposal aims to get a working prototype with versatile features to handle objects with different geometries considering the system functionality, appearance and symmetry for the human body.