(2020) (JAST) Finger Prosthetic Design Based in The Anatomy and Biomechanics Studies

15/6/2020 Vol. 29 No. 04 (2020): Vol 29 No.
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Finger Prosthetic Design Based in the Anatomy

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Andres Pavajeau, Oscar F. Avilés, Ruben  PDF

Hernández, Edilberto Mejia
Published
2020-06-06
Abstract
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The objective of this work is to demonstrate How to Cite
Andres Pavajeau, Oscar F. Avilés, Ruben
the methodology used to obtain a robotic
Hernández, Edilberto Mejia. (2020). Finger
system with anthropomorphic
Prosthetic Design Based in the Anatomy and
characteristics of the index finger of the Biomechanics Studies. International Journal of
hand, through the characterization and Advanced Science and Technology, 29(04), 3201
-. Retrieved from
biomechanical study of kinematic
http://sersc.org/journals/index.php/IJAST/arti
parameters, in order to obtain a mechanism
cle/view/24179
that generates movement of the robotic
finger. For the development of robotic More Citation Formats 
finger prosthesis, an anatomical study of

the hand is analyzed, integrating the
Issue
Denavit-Hartenberg method to represent
Vol. 29 No. 04 (2020): Vol 29 No. 4
the dynamics of finger movement. (2020)
Considering the above, the selection of
Section
materials that most resembled the behavior
Articles
of the tendons was made and stress tests
were carried out on each of the materials to
see which one performs better for the
robotic prosthesis. Also, a study of drive and
motor methods for the design of the
prosthesis. Once the mechanical design of Downloads
the prosthesis is carried out, the selection of
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the electronics and the characterization of
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the elements that comprise it are made,
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facilitating the connection with the Matlab®
software in which a user interface was
designed to replicate the movement of the
human finger through the SimMechanics Guidelines
plugin. Obtaining as result the development Publication Ethics and Malpractice
of the robotic finger prosthesis simulating Statement
the movements in 90%, complying with the Author Guidelines
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Vol. 29, No.4, (2020), pp. 3201 – 3212
Finger Prosthetic Design Based in the Anatomy and Biomechanics

Studies
Andres Pavajeau1, Oscar F. Avilés2, Ruben Hernández3, Edilberto Mejia3
1
Mechatronics Department, Piloto University of Colombia
2
Mechatronics Department, Nueva Granada Military University
3
Biomedical Department, Nueva Granada Military University
1
andres-pavajeau@upc.edu.co, 2oscar.aviles 3ruben.hernandez, 3edilberto.mejia
{@unimilitar.edu.co}
Abstract
The objective of this work is to demonstrate the methodology used to obtain a robotic
system with anthropomorphic characteristics of the index finger of the hand, through the
characterization and biomechanical study of kinematic parameters, in order to obtain a
mechanism that generates movement of the robotic finger. For the development of robotic
finger prosthesis, an anatomical study of the hand is analyzed, integrating the Denavit-
Hartenberg method to represent the dynamics of finger movement. Considering the above,
the selection of materials that most resembled the behavior of the tendons was made and
stress tests were carried out on each of the materials to see which one performs better for
the robotic prosthesis. Also, a study of drive and motor methods for the design of the
prosthesis. Once the mechanical design of the prosthesis is carried out, the selection of
the electronics and the characterization of the elements that comprise it are made,
facilitating the connection with the Matlab® software in which a user interface was
designed to replicate the movement of the human finger through the SimMechanics
plugin. Obtaining as result the development of the robotic finger prosthesis simulating the
movements in 90%, complying with the proposed parameters.
Keywords: Biomedical, Anthropomorphic Finger, Anthropomorphic Robotics, Tendons.
1. Introduction
The hand allows to hold and manipulate objects of different shapes and sizes, since it
has more than 20 degrees of freedom, 14 phalanges, 5 metacarpals, 8 carpals on the wrist,
muscles and tendons that make up the anatomical structure of the hand, providing the
possibility of executing force and precision movements stably and with great dexterity [1-
2,5]. In order to execute more precise tasks and with greater dexterity, robotic hands have
been incorporated as the final effector of robotic manipulators within industrial processes,
which have multiple fingers, each with a certain number of joints, trying to simulate the
functions of the hand [1]. Various researchers have dedicated themselves to conducting
studies on mechanisms, not only to hold, but also to manipulate different objects, focusing
on work related to robotic hands with multiple fingers in an anthropomorphic way, with
sub-actuated mechanisms and even with very sophisticated control [1].
In the works presented by [2-5] various kinematic analyzes of the human hand have
been performed. However, parameters such as angular velocity and acceleration or
relative velocity between phalanges are not considered and should be of even greater
importance than the range of motion of the fingers.
Due to the aforementioned, the trends of robotics in the field of end effectors are
observed, since there is an increasing interest in the possibility of obtaining better
precision and skill in the handling of various objects, not only the mechanical structure,
electronic circuits or control techniques, since the morphology and anthropometry of the
hand are currently being considered, as well as the biological characteristics of the sensors
involved in it.
ISSN: 2005-4238 IJAST 3201

Copyright ⓒ 2020 SERSC
Vol. 29, No.4, (2020), pp. 3201 – 3212
2. Biomechanics, Anatomy, Kinematics and Dynamics of the Finger

Biomechanics is understood as the science that is responsible for the study and
consideration of factors that intervene or must be considered when analyzing the
mechanical movements of a system. Considering the above, the movement of the
hand, specifically the index finger, will be analyzed, taking into account parameters
such as the length of each of the phalanges and also the design restrictions. This in
order to achieve a movement which is more natural in order to condition it in the
manipulation of objects and adapt it to the daily life of a person with this type of
amputation [6].
Firstly, the movement of the proximal phalanx is taken into account, with respect
to the metacarpus, which is its reference point or fixed point, these two forms an
angle between 90 ° and 95 °, these being the limitations for finger movement [ 6].
The angle ratio of the different phalanges will be shown in the following table 1,
in order to have a better movement ratio.
Table 1. Relationship of angles between the different phalanges [2].

Extension
Phalanx Normal Flex
Hypertension
Distal 90º 30º
Average 110º 0º - 5º
Proximal 90º - 95º 0º
Taking into account this relationship, it can be determined that the movement of
each phalanx has a series of limits for the index finger and the natural movement of
the finger are patterns of symmetry of the hand, these considered with the fingers
approximated to each other in extension and the fingers spread naturally in
extension along with flexing motion.
Likewise, the physical structures of supports and movement are analyzed from
the anatomy of the hand and index finger as the basis for the design. The hand and
the wrist are made up of 27 bones, 14 of these bones are the phalanges of the
fingers, 5 metacarpals in the palm and 8 wrist carps, where each one fulfills a
function and are part of the architecture of the hand [6,8].
Approximately 30 muscles are required for the operation of the hand, which allow
movements of positioning, grasping, abduction, flexion, extension, among others
[9].
The index finger uses two tendons, one deep and one superficial, for its flexion,
which are inserted at the base of the distal phalanx and at the base of the middle
phalanx respectively, the superficial flexor tendon attached to the base of th e middle
phalanx. It divides in two making the deep flexor tendon pass through the middle of
it, being able to join in the distal phalanx. By operating these tendons, the finger is
flexed (figure 1 a). Similarly, for extension, it is performed by means of the single
tendon of the index finger, "extensor digitorum indexes (figure 1 b)", which is
located in the dorsal part of the finger, attached to the dorsal base of the distal
phalanx of the finger. [10]
Additionally, the anthropometric analysis of the hand and fingers allows
establishing parameters for the design of the robotic finger, based on the
measurements of the human hand based on a study carried out by the Autonomous
University of Chile, for which anthropometric measurements of the hand to people
between 18 and 65 years, taking into account variables such as length and width of
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Vol. 29, No.4, (2020), pp. 3201 – 3212
the hand, length of the fingers and each of the phalanges. Regarding the length of
the fingers in men, considering the sum of the averages obtained for each sector of
the corresponding phalanges, the averages were as follows: thumb, 72.5 mm in the
right hand and 72.4 mm in the left hand ; index, 104.2 and 104.5 mm; medium, 115
and 114.6 mm; annular, 109.1 and 108.9 mm and the little finger, 88.5 and 88.4 mm,
respectively. In women, the average lengths were thumb of the right hand, 63.5 mm
and 62.6 mm in the left hand; index, 91 and 90.7 mm; medium, 100.4 and 99.2 mm;
annular, 94.4 and 94.2 mm and the little finger, 75.8 and 75.9 mm, respectively. [ 11]
With the above, kinematics is the branch of physics in charge of studying the
mechanical movement of a body without depending on the causes that produce it,
essentially limiting itself to the study of trajectory as a function of time [ 12]. Taking
into account the above, the kinematic model allows us to demonstrate the
relationship between the movement of the robot's joints and its rigid body. It is
called direct kinematics when calculating the position and orientation of the end
effector taking into account the joint variables [13]. To obtain such direct
kinematics, a model must be used which is adapted to the requested requirements.
For this reason, the Denavit-Hartenberg method was chosen, since using 4
parameters allows describing the trajectory of a manipulator considering the
variables that make up the system (Figure 1)[9].
Figure 1. Definition of the Denavit-Hartenberg parameters. [14]
To obtain the model, it must be considered that the reference system must be
fixed to each of the points at which the study will be carried out. Once the system
parameters are available, a homogeneous transformation matrix was used, which
describes the relationship between the elements (Figure 2). The product of all the
matrices, provides such a system relationship based on the initially selected
reference system [15].
Figure 2. Degrees of freedom of the index finger.
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Vol. 29, No.4, (2020), pp. 3201 – 3212
Because the anthropomorphic finger does not represent movement on the Z axis
(Figure 3), the rotational matrices are redesigned to obtain direct kinematics without
going into full detail of the Denavit-Hartenberg method [14], [15].
Structural parameters
Joint 𝜃𝑖 𝑑𝑖 𝑎𝑖 𝛼𝑖
1 𝜃1 0 𝑎0 0
2 𝜃2 0 𝑎1 0
3 𝜃3 0 𝑎2 0
Homogeneous Transformation matrix
cos𝜃𝑖 −cos𝛼𝑖 sin𝜃𝑖 sin𝛼𝑖 sin𝜃𝑖 𝑎𝑖 cos𝜃𝑖
sin𝜃𝑖 cos𝛼𝑖 cos𝜃𝑖 −sin𝛼𝑖 cos𝜃𝑖 𝑎𝑖 sin𝜃𝑖
𝑇𝑖𝑖−1 =
0 sin𝛼𝑖 cos𝛼𝑖 𝑑𝑖
0 0 0 1
Figure 3. Representation of a system like that of the index finger, with 3GDL
Since there are only 2 dimensions, 3 links and 1 fixed point and that each link is
directly related to the previous one, the following method is used to calculate the
position of the anthropomorphic finger as show in equation 1 - 15.
𝑓 𝑓
𝑇0 = 𝑇01 𝑇12 𝑇23 𝑇3 (1)
Where:
𝜃𝑖 = angle between axes, 𝑇𝑖 = Rotational Matrix, 𝐿𝑖 = Length of each bone and 𝑇0𝑓 =
Index finger position.
cos𝜃1 −sin𝜃1 0 0
sin𝜃1 cos𝜃1 0 0
𝑇01 = (2)
0 0 1 0
0 0 0 1
sin𝜃2 cos𝜃2 0 0
𝑇21 = (3)
0 0 1 0
0 0 0 1
sin𝜃3 cos𝜃3 0 0 (4)
𝑇32 =
0 0 1 0
0 0 1 1
1 0 0 𝐿3
0 1 0 0 (5)
𝑇𝑓3 =
0 0 1 0
0 0 0 1
Once the product is made between the matrices, a general matrix is obtained,
which describes the movement or the position in which the index finger is located.
𝑛𝑥 𝑜𝑦 𝑎𝑧 𝑝𝑥
𝑛𝑦 𝑜𝑦 𝑎𝑧 𝑝𝑦
𝑇𝑓3 = (6)
𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑝𝑧
0 0 0 1
Where the terms obtained are:

𝑛𝑥 = cos𝜃1 (cos𝜃2 cos𝜃3 − sin𝜃2 sin𝜃3 ) − cos𝜃2 sin𝜃1 sin𝜃3 − cos𝜃3 sin𝜃1 sin𝜃2 (7)
𝑛𝑦 = cos𝜃1 (cos𝜃2 + sin𝜃3 + sin𝜃2 cos𝜃3 ) + cos𝜃2 sin𝜃1 cos𝜃3 − sin𝜃3 sin𝜃1 sin𝜃2 (8)
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Vol. 29, No.4, (2020), pp. 3201 – 3212
𝑛𝑧 = 0 (9)
𝑜𝑥 = cos𝜃1 (cos𝜃2 sin𝜃3 − sin𝜃2 cos𝜃3 ) − cos𝜃2 sin𝜃1 cos𝜃3 − sin𝜃3 sin𝜃1 sin𝜃2 (10)
𝑜𝑦 = cos𝜃1 (cos𝜃2 cos𝜃3 − sin𝜃2 sin𝜃3 ) − cos𝜃2 sin𝜃1 sin𝜃3 − cos𝜃3 sin𝜃1 sin𝜃2 (11)
𝑜𝑧 = 0 (12)
𝑎𝑥 = 0 (13)
𝑎𝑦 = 0 (14)
𝑎𝑧 = 1 (15)
From this matrix, the following equations are obtained which describe the joint
coordinates of the index finger (equation 16-18).
𝑝𝑥 = cos𝜃1 (cos𝜃2 (cos𝜃3 𝑙3 + 𝑙2 ) + 𝑙1 − 𝑙3 sin𝜃2 sin𝜃3 ) − (cos𝜃2 𝑙3 sin𝜃3 (16)
+ cos𝜃3 𝑙3 + 𝑙2 sin𝜃1 )sin𝜃1
𝑝𝑦 = cos𝜃1 (cos𝜃2 𝑙3 sin𝜃3 cos𝜃3 sin𝜃2 + 𝑙2 ) (17)

+ cos𝜃2 cos𝜃3 𝑙3 + 𝑙2 + 𝑙1 − 𝑙3 sin𝜃3 sin𝜃2 sin𝜃1
𝑝𝑧 = 0 (18)
Likewise, the maximum and minimum points achievable by the index finger
are obtained when performing flexion and extension movements (Figure 4). To
find these points, the length of each of the phalanges is taken as a base.
Figure 4. Index finger movement ranges [15].
Although there are various muscle models, which try to explain the behavior of the
muscles, it was decided to use the P.Nelson model, since by means of a relation of force
and frequency it is possible to find the forces that describe these movements [9].
When making the muscle contraction, 2 terms of force exerted by himself are used.
Force F1 (Equation 19) represents the stiffness of the muscle, where the muscle is not
excited.
The F2 (Equation 20) force represents the contractile force, due to the action of the
sarcomeres that make up the functional unit of the muscle when it is excited.
Where:
𝐹0 = Maximum force exerted by the muscle.
𝐿 = Muscle Length
ISSN: 2005-4238 IJAST 3205

Vol. 29, No.4, (2020), pp. 3201 – 3212
𝐿0 = Length of the relaxed muscle.

𝐿
9 −1.544 (19)
𝐹1 = 𝐹0 𝑒 𝐿0
𝐿
−1.544
𝐿0
9
0.404
(20)
𝐹2 = 𝐹0 𝑒
The elongation of the muscle is known thanks to the following equation 21.
𝛿𝑥 = 𝐿 − 𝐿0 (21)
From the equations presented above, the necessary torque of the motor to make the
movement of each of the joints while grasping an object can be estimated. However,
dynamic models are not appreciable for the development of this research since the torque
of a motor is oversized for the movement of the joints [9].
3. Robotic finger design

For the design of the prosthesis of the index finger, aspects of great importance were
considered, such as the biological characteristics and the execution of the movements for
it.
Autodesk Inventor Professional and SolidWorks design software were used, since they
allow to model each one of the phalanges of the finger and analyze them for determined
stresses, deformations and finally interact with them through the external SimMechanics
complement.
Because the prototype must be light and resistant, the material must have good
mechanical properties such as high resistance, ease of manufacture, low density, among
others. Therefore, Polylactic Acid (PLA) is used, which meets these requirements and
also allows for better acquisition and handling (Table2). This material is highly used in
the field of biomedicine, since it is depolymerized by means of chemical hydrolysis, this
makes it perfect for its manipulation [17].
Table 2. Characteristics of PLA Polylactic Acid

Modulus of ResistancetoElasticity Tensilestrength YieldStrength
density [g/cm3] [GPa] [MPa] [MPa]
1,25 3,5 50 80
Once the material is selected, a finite element analysis is carried out, which
allows observing the behavior of each of the pieces when subjected to a determined
effort.
This is done using a mesh, which is automatically generated by the software and
which considers parameters such as tolerances and control specifications. Said
parameters are established before carrying out any analysis since the size of the
components, faces, edges and vertices thereof can be modified; to estimate a
volume, surface area and geometric finishes of the piece to carry out the respective
mechanical study.
From the mechanical analysis, the maximum stresses (Figure 5) which have
consequences on the structure can be determined, likewise the deformation or wear
of the piece before said force can be determined, in this case generated from the
tendons.
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Vol. 29, No.4, (2020), pp. 3201 – 3212
Metacarpus
Medial
Phalanx
Proximal
Phalanx
Distal Phalanx
a) Design in Solidworks
b) Metacarpus c) Proximal Phalanx
d)Medial Phalanx e)Distal Phalanx

Figure 5.Von Misses Stress Simulation and Anthropomorphic finger design
in SolidWorks.
These tests are of great importance to determine the maximum and minimum stresses,
as well as the deformation thereof, which represents the behavior and provides
information to consider when applying a force without reaching a point of failure[15].
For the emulation of the tendons it must be considered that they must be resistant to
constant movement, for this reason they must have high resistance to wear and ease of
manufacture. Considering the above, hemp yarn is chosen, which has great durability and
resistance, it is taken from a fast-growing plant, which also has characteristics such as
being resistant to ultraviolet light, so it does not disintegrate with solar rays. Due to its
characteristics, the uses that can be made of hemp thread are endless, in addition to having
three times the tensile strength of cotton, so despite not being hard or heavy, if not on the
contrary, light, soft and absorbent, it is easy to buy, strong and durable [18 - 19].
The previous material was subjected to a stress test to determine how suitable it is for
the development of the device. To run the test, it is done by means of the tensile test, a
method that allows determining the tensile strength, rupture and how the sample is made
up.
For the tests it was required to carry out the calibration of the extensometer and a
tolerance of 0.001 mm was obtained for the sensor, additionally there are the parameters
of the material, such as the length and diameter of the sample to be included in the test.
They obtain the graphs that represent the behavior of the material, figure 17-a represents
the deformation of the sample when subjected to a determined stress, and figure 6-b
shows the maximum stress exerted on said sample, validating that this material is viable
to be used in the proposed design.
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Vol. 29, No.4, (2020), pp. 3201 – 3212
The previous material was subjected to a stress test to determine how suitable it is for
the development of the device. To run the test, it is done by means of the tensile test, a
method that allows determining the tensile strength, rupture and how the sample is made
up.
For the tests, a test bench was used in which material parameters were incorporated,
such as the length and diameter of the sample and an extensometer as sensor was
calibrated, obtaining as a result a tolerance of 0.001 mm and the graphs that represent the
behavior of the material. Figure 6-a represents the deformation of the sample when
subjected to a determined stress and Figure 6-b shows the maximum stress exerted on said
sample, validating that this material is viable to be used in the proposed design.
a) Deformation of hemp yarn b) Maximum effort of hemp yarn
Figure 6.Maximum effort and deformation test of hemp yarn.

For the development of the mechanical system, mechanisms that can be coupled to the
system in an optimal way are taken into account, therefore, it is determined to use Pulleys,
this because due to its great elasticity and flexibility they allow to have a silent operation
and with almost vibrations null, in addition that they can be implemented at a low cost.
This pulley is attached to a ServoMotor which has the ideal size, in addition to having
ease of control and versatility to transmit movement, therefore, it allows a response that is
much more like the movement of the index finger.
The control circuit (Figure 7) is in charge of allowing the correct operation of the
system and its monitoring, it is proposed by means of a sensor (strain gauge) which is
mounted next to the Wheastone Bridge, they send a signal that is received by a INA128
instrumentation amplifier which is responsible for eliminating noise in order to obtain a
clean signal from the index finger, which is sent to the Arduino UNO control card and this
sends a corrected PWM signal to the Servomotor.
Amplification
Wheatstone bridge Control Stage Output
Stage
Figure 7. Electronic diagram for the proposed prosthesis.
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Vol. 29, No.4, (2020), pp. 3201 – 3212
In the case of the sensor, it was located at strategic points of a glove in the user to
achieve a better characterization of it, obtaining a specific movement curve that is given
by a relationship between ohms and movement angles, these values being between 10KΩ
and 120KΩ and 0 and 120 degrees respectively [15].
The result obtained is linearized in order to obtain a better relation of movement and
thus obtain a response with greater stability (Figure 8).
Angle vs Ohms
Figure 8: Linearization of FlexoResistence[15].

The control strategy uses a PID controller by means of the root place method, since it
guarantees null steady state error and reduces the number of oscillations. This signal
provides control of the plant, in this case it is a Servomotor that varies its position
depending on the reference signal given by the sensor (glove). This controller was
embedded in the Arduino UNO board, since it facilitates the connection between the
SimMechanics and Matlab software through their libraries and free information on the
website. This will be the one who takes the reference values of the amplifier and
considering the parameters established by the system, will send the corresponding signals
for its stabilization.
4. Results
The manufacture of the robotic index finger prosthesis is made by 3D printing of each
of the phalanges that compose it, as well as the metacarpus and the base to which it is
attached.
The phalanges are joined by means of pins made of the same material and which allow
free movement of the finger, the only limitation being the angles formed between them.
Each of the phalanges are attached to the motor by means of hemp threads, which pass by
means of pins that allow the execution of the extension and flexion movements.
The strain gauge is the one that determines the direction of rotation of the Servomotor
and how many degrees it must move.
In the development of the prosthesis, the maximum and minimum point reached by the
finger was established, in order to locate the tendons (hemp thread) on the pulley.
When referring to the terms (Max. -Min.) Of hemp thread, they are directly related to
the stresses to which the tendons are subjected in the flexion and extension movements,
this means that while the tendon # 1 is at maximum tension to perform the extension
movement, tendon # 2 is at minimum tension, and to perform the flexion movement the
parameters are inversely proportional (Figure 9).
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Vol. 29, No.4, (2020), pp. 3201 – 3212
Figure 9: Prosthesis performing Flexion-Extension movement with glove

feedback.
The hemp filaments are threaded at points anatomically like where the pins, this allows
the movement to be as like that of the human index finger. As previously mentioned, this
system allows fluid movement of each phalanx to be obtained, even considering the
restrictions of the index finger (figure 10).
Figure 10: System of insertion points of the tendons in each phalanx.

As for the comparison between the Human Finger and the proposed finger, the
behavior is similar, considering response times, extension, and flexion at its maximum
and minimum points, although some intermediate points can be improved to obtain a
much cleaner signal. and stable. Despite the above, the prototype meets the stated
requirements and satisfies the need for which it was designed. The prototype made
imitates the movements generated by the glove wearer and does so at the corresponding
times.
4. Conclusions
From the tension tests carried out, it is determined that only one filament is required to
perform the extension and flexion movements, an independent one for each movement,
respectively.
It is necessary to replicate the pins from the human anatomy, so that they perform the
same function, in order to carry out the movements in a correct and natural way.
The PLA is very useful, since the design of a finger in general has abstract geometry.
Despite this, the prosthesis has great durability, mechanical resistance, hardness and high
friction capacity, which allows the movements made by it to be much more natural and at
a low cost.
It was possible to design an anthropomorphic finger with 3 degrees of freedom which
emulates the movement of the human finger, with an approximation of 90% movement.
From the above, it can be deduced that you can correctly emulate not only the movement
of a human finger, but also its movements.
It is essential to have knowledge in anatomy, since, through this, it was possible to
propose a design that will allow to replace or provide a missing body part, regardless of
the cause of the loss.
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Vol. 29, No.4, (2020), pp. 3201 – 3212
Replicating the experience gained for the construction of the prosthesis of the index
finger, it will be possible to design a prosthesis that is more similar to the behavior and
appearance of a human hand.
Finally, the importance of the mechanical tests carried out on the respective materials is
determined, since it can be found that it meets the requirements for the development of
the project, and similar to human connective tissue, it is resistant to wear, light and
formed. from fibers.
Acknowledgments
The research for this study was supported by Piloto University of Colombia and Nueva
Granada Military University, as well as the engineers Ivan Bonilla and Weimar Perez for
their support in the development of the research.
References
[1] Velázquez, A. T., Merchan, E. A. & Ramírez, J. De los Grippers de Pinzas a las Manos
Robóticas Multiarticuladas. 4° Congreso Internacional de Ingeniería Electromecánica y de
Sistemas. México D. F., (2005), SEPI-ESIME-IPN.
[2] Ceccarelli, M., Jauregui, J. & Nava, N. Experimental Activity for Designing a Hand with
1 DOF Anthropomorphic Fingers of Human Size. 12th International Workshop on
Robotics in Alpe-Adria-Danube Region RAAD'03. (2003), Cassino Italy.
[3] Dechev, N., Cleghom, M. L. &Naumman, S. Multi-segmented Finger Design of an
Experimental Prosthetic Hand. Proceedings of the Sixth National Aplied Mechanisms and
Robotics Conference, (1999) 99-033-01, 99-033-08.
[4] Fukaya, N., Toyama, S., Asfour, T. & R., D. Design of the TUAT/Karlsruhe Humanoid
Hand. Department of Engineering of Mechanic System. (1999) Tokio, Japan, University
Tokio Japan.
[5] Lauren, J. Design and Control of an Anthropomorphic Robotic Finger Whit Muilti-point
Tactile Sensation. Artificial Intelligent Laboratory. (2001) Massachusetts, USA,
Massachusetts Institute of Technology.
[6] Luz Amparo Arias López. “Biomecánica y patrones funcionales de la mano”. En:
Morfolia; Vol. 4, núm. 1 (2012) 2011-9860 (2012). Derechos de autor reservados. url:
http://bdigital.unal.edu.co/32030/.
[7] F. Richard Convery. “Basic Biomechanics of the Skeletal System. Victor H. Frankel and
Margareta Nordin. Philadelphia, Lea &Febiger, 1980. 303 pages. Illustrated.” En:
Arthritis & Rheumatism 24.11 (1981), págs. 1457-1458.
[8] Material Didactico. 2018. url: https://docplayer.com.br/85151044-Anatomia-do-corpo-
humano.html.
[9] Daniel Humberto Sánchez Calderón y col. “Consideraciones anatómicas en el diseño de
una mano artificial”. En: Universidad Militar Nueva Granada (2017).
[10] M.R. Morro Martí y col. “Anatomía aplicada a la cirugía de los tendones flexores”. En:
Revista Iberoamericana de Cirugía de la Mano 43.2 (2015), págs. 128-134. issn: 1698-
8396. doi: https://doi.org/10.1016/j.ricma.2015.08.001. url:
http://www.sciencedirect.com/science/article/pii/S1698839615000304.
[11] O Binvignat y col. “Aspectos Biometricos de la Mano de Individuos Chilenos”. es. En:
International Journalof Morphology 30 (jun. de 2012), págs. 599 -606. issn:0717-9502.
url: https://scielo.conicyt.cl/scielo.php?script=sci_arttext&pid=S0717-
95022012000200040&nrm=iso.
[12] Anne Collins. “Kinematics.” En: Salem Press Encyclopedia of Science (2018). url: https :
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[13] Richard M Murray. A mathematical introduction to robotic manipulation. CRC press,
2017.
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[14] Harvey Lipkin y col. “EndoscopeKinematics”. En: (jul. de 2).

[15] Iván Darío Bonilla Barrero, Andrés Felipe PavajeauEscorcíayWeimar Alejandro Pérez
Barbosa. Diseño y desarrollo de un dedo índice accionado por tendones. 2019. url:
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Finger Prosthetic Design Based in the Anatomy

Andres Pavajeau, Oscar F. Avilés, Ruben  PDF

finger prosthesis, an anatomical study of

Finger Prosthetic Design Based in the Anatomy and Biomechanics

Keywords: Biomedical, Anthropomorphic Finger, Anthropomorphic Robotics, Tendons.

ISSN: 2005-4238 IJAST 3201

2. Biomechanics, Anatomy, Kinematics and Dynamics of the Finger

Table 1. Relationship of angles between the different phalanges [2].

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Figure 1. Definition of the Denavit-Hartenberg parameters. [14]

Figure 2. Degrees of freedom of the index finger.

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Where the terms obtained are:

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𝑝𝑦 = cos𝜃1 (cos𝜃2 𝑙3 sin𝜃3 cos𝜃3 sin𝜃2 + 𝑙2 ) (17)

Figure 4. Index finger movement ranges [15].

ISSN: 2005-4238 IJAST 3205

𝐿0 = Length of the relaxed muscle.

3. Robotic finger design

Table 2. Characteristics of PLA Polylactic Acid

ISSN: 2005-4238 IJAST 3206

b) Metacarpus c) Proximal Phalanx

d)Medial Phalanx e)Distal Phalanx

ISSN: 2005-4238 IJAST 3207

a) Deformation of hemp yarn b) Maximum effort of hemp yarn

Figure 6.Maximum effort and deformation test of hemp yarn.

Figure 7. Electronic diagram for the proposed prosthesis.