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Design of a Two-Speed LAVT for Energetic Optimization of an Accessible Prosthetic Hand

Côme Butin 1, 2 Damien Chablat 2, 1 Yannick Aoustin 1, 2 David Gouaillier 
1 ReV - Robotique Et Vivant
LS2N - Laboratoire des Sciences du Numérique de Nantes
Abstract : This work proposed the design of a simple, robust and inexpensive motion transmission for hand prostheses. The main challenge to be solved is to generate not only fast movements for the closing of the fingers during the grasping but also important forces to hold these objects. A Two-Speed Load Adaptive Variable Transmission is introduced to solve this challenge using a planetary gear train to reduce the speed and a selector clutch with wrap spring. The main properties of these two systems are recalled and a guideline is introduced to reach the user requirement. Finally, an application example is presented and the proposed prototype is analyzed.
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https://hal.archives-ouvertes.fr/hal-03625182
Contributor : Damien Chablat Connect in order to contact the contributor
Submitted on : Wednesday, July 6, 2022 - 3:55:27 PM
Last modification on : Friday, August 5, 2022 - 2:54:52 PM

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Côme Butin, Damien Chablat, Yannick Aoustin, David Gouaillier. Design of a Two-Speed LAVT for Energetic Optimization of an Accessible Prosthetic Hand. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2023, 15 (1), pp.11. ⟨10.1115/1.4054273⟩. ⟨hal-03625182⟩

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