DEVELOPMENT AND ANALYSIS OF THE BIONIC HAND PROSTHESIS CONCEPT

Abstract

The paper discusses the development and investigation of a bionic hand prosthesis conceptual model, classified as a robotic anthropomorphic manipulator with five independent degrees of freedom. Special attention is paid to the mechanical architecture, applying the intrinsic actuation principle with servo drives integrated into the palm's base. An innovative motion transmission system based on rigid push-rod linkages is described. It has significant advantages over traditional tendon-driven mechanisms: providing active flexion and extension of the phalanges, eliminating mechanical hysteresis, and increasing positioning accuracy. A detailed structural and kinematic analysis of the finger module as a planar multi-link mechanism was conducted. Using Chebyshev's structural formula, one degree of freedom for the seven-link design was mathematically confirmed. The decomposition of the kinematic chain into Assur groups allowed classifying it as a second-class mechanism. The kinematic scheme ensures rigid synchronization of motion and deterministic reproduction of biomimetic grip trajectories.