Diseño y fabricación bajo enfoque biomecánico y mecatronico de mano antropomórfica, robótica y subactuada -haru

Abstract

This document presents the development and construction of a hand prosthesis with underactuated tendon drive system. Its initial design stage is based on the considerations of need that a person with loss of upper limb has, and the characteristics of performance and selection that the prostheses must have in the development of the Activities of the Daily Living -ADLs. The design approach was theoretically based on a study of the biomechanics of the hand and its movements, relating the types of grip most commonly used in prostheses, and considering a Mechatronic Design Process - PDM that allowed its operation to be validated through simulations. After that, the final prototype of HARU was made through the Fused Deposition Modeling - FDM technique, taking into account its considerations of positioning the part in the printing area to obtain the best quality and performance in the part.