UH-JOAQUIN

UH-JOAQUIN

UH-JOAQUIN is a low-cost body-powered underactuated hand prosthesis. It was designed to be manufactured using PLA with a domestic 3D printer. This hand is the result of the final project of Joaquin Ibañez for the Mechanical Engineering degree.

The fingers have two plahanges each, with a natural fixed position of the distal interphalangeal joint . The hand includes an underactuation system designed to close all the fingers, including the thumb, with a single tendon attached to the actuation harness, allowing adaptive grasping to the shape of the objects.  The underactuation is obtained thanks to a system of levers, pulleys and sliders. The thumb can be locked manually in two different positions in the abduction/adduction joint. The extensión motion is achieved thanks to constant force springs located in the dorsal part of the fingers.