Design and Prototyping of an Artificial Finger With a Novel Actuation Mechanism and Quick Connect Disconnect Capabilities

In this paper, we present the design and prototyping of a three degree of freedom artificial finger. This finger has a Quick Connect Disconnect (QCD) feature that provides the means for easily exchanging the whole finger from the supporting structure. The designed QCD provides the means for transferring the required actuation power. The power transfer is accomplished through a novel power screw type of arrangement; the rotational actuator motion is transformed into linear motion through the QCD. The designed finger uses belts for motion instead of tendons and springs for maintaining tension. The belt-spring arrangement does not require a dedicated tensioning device since tensioning is continuously provided by the spring. The First Generation three degree-of-freedom artificial finger has been designed and prototyped. Initial experiments were conducted that verified the novel approaches implemented.Copyright © 2002 by ASME