Publication: DESARROLLO DE PRÓTESIS DE MANO CON SISTEMA DE AGARRE ADAPTATIVO PARA USO GENERAL EN AMPUTACIONES A NIVEL DE DESARTICULACIÓN DE MUÑECA
Date
2018-05
Authors
BASOALTO CALVANESE, ÁLVARO ALFREDO
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Abstract
La inspiración para trabajar con el tema de las prótesis de mano (y desarrollar una) nace por el deseo del autor de ayudar a las personas, en este caso particular, a las que presentan amputaciones a nivel de desarticulación de muñeca del miembro superior. Buscando en lo posible mejorar su diario vivir, facilitando el acceso económico de las prótesis, tanto por los materiales utilizados como por los métodos de manufactura; además permitiendo una alta funcionalidad en base a un diseño completo a la vez que liviano y de fácil accionamiento.El trabajo comienza con la revisión de un benchmark de las ofertas existentes en el mercado actual de prótesis para buscar oportunidades de mejora a lo que existe actualmente. Una vez realizado el estudio surge la idea de desarrollar un sistema de agarre adaptativo que simplifique el control del prototipo a desarrollar, disminuyendo el número de actuadores necesarios para realizar los movimientos de este, a la vez que se reduzca su peso y mantenga todo dentro de una forma antropomórfica.A continuación, se estudia la anatomía de la mano humana, sus capacidades y especificaciones, así como las posibilidades de acción y movimiento que puede realizar; en este punto se investiga además sobre los tamaños promedios de las manos en Chile, el peso máximo que esta debe tener con respecto al peso del individuo y la fuerza que esta puede ejercer.Utilizando como base el estudio e investigación de la mano humana se generaron los requerimientos mínimos de la prótesis en cuanto a tamaño, peso, rango de movilidad y posibilidades de acción. Esta parte del trabajo culmina con el diseño del prototipo, junto al del sistema de agarre adaptativo que permite el cierre diferenciado de los dedos meñique, anular y medio, accionándolos a través de solo un actuador.Finalmente, gracias a métodos de impresión 3D, se logra construir una prótesis de mano con sistema de agarre adaptativo para uso general, con la capacidad de imitar una amplia variedad de movimientos, agarres y acciones de una mano humana, además de la posibilidad de sostener objetos de diversos tamaños y formas.
The inspiration to work with the theme of hand prostheses (and develop one) is born by the author's desire to help people, in this particular case, those who present amputations at the level of disarticulation of the upper limb wrist. Looking as much as possible to improve their daily living, facilitating the economic access of the prosthesis, both for the materials used and for the manufacturing methods; also allowing high functionality based on a complete design while lightweight and easy to operate.The work begins with the revision of a benchmark of the existing offers in the current prosthesis market to look for opportunities for improvement to what currently exists. Once the study is done, the idea of developing an adaptive grip system simplifies the control of the prototype to be developed, decreasing the number of actuators necessary to perform the movements of this, while reducing its weight and keeping everything within an anthropomorphic form.Next, we study the anatomy of the human hand, its capabilities and specifications, as well as the possibilities of action and movement that it can perform; At this point we also investigate the average sizes of hands in Chile, the maximum weight that this should have with respect to the weight of the individual and the force that it can wield.Using as a basis the study and research of the human hand, the minimum requirements of the prosthesis were generated in terms of size, weight, range of mobility and possibilities of action. This part of the work culminates with the design of the prototype, together with the adaptive grip system that allows the differentiated closing of the little, ring and middle fingers, activating them through only one actuator.Finally, thanks to 3D printing methods, it is possible to build a hand prosthesis with adaptive grip system for general use, with the ability to imitate a wide variety of movements, grips and actions of a human hand, as well as the possibility of holding objects of a wide diversity of sizes and shapes.
The inspiration to work with the theme of hand prostheses (and develop one) is born by the author's desire to help people, in this particular case, those who present amputations at the level of disarticulation of the upper limb wrist. Looking as much as possible to improve their daily living, facilitating the economic access of the prosthesis, both for the materials used and for the manufacturing methods; also allowing high functionality based on a complete design while lightweight and easy to operate.The work begins with the revision of a benchmark of the existing offers in the current prosthesis market to look for opportunities for improvement to what currently exists. Once the study is done, the idea of developing an adaptive grip system simplifies the control of the prototype to be developed, decreasing the number of actuators necessary to perform the movements of this, while reducing its weight and keeping everything within an anthropomorphic form.Next, we study the anatomy of the human hand, its capabilities and specifications, as well as the possibilities of action and movement that it can perform; At this point we also investigate the average sizes of hands in Chile, the maximum weight that this should have with respect to the weight of the individual and the force that it can wield.Using as a basis the study and research of the human hand, the minimum requirements of the prosthesis were generated in terms of size, weight, range of mobility and possibilities of action. This part of the work culminates with the design of the prototype, together with the adaptive grip system that allows the differentiated closing of the little, ring and middle fingers, activating them through only one actuator.Finally, thanks to 3D printing methods, it is possible to build a hand prosthesis with adaptive grip system for general use, with the ability to imitate a wide variety of movements, grips and actions of a human hand, as well as the possibility of holding objects of a wide diversity of sizes and shapes.
Description
Catalogado desde la version PDF de la tesis.
Keywords
AGARRE ADAPTATIVO , MANO ANTROPOMORFICA , PROTESIS DE MANO , PROTOTIPO