Design of an affordable anthropomorphic mechanical prosthetic hand

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dc.contributor.advisorVicatos, Georgeen_ZA
dc.contributor.authorTenim, Severinen_ZA
dc.date.accessioned2015-07-02T08:35:47Z
dc.date.available2015-07-02T08:35:47Z
dc.date.issued2014en_ZA
dc.descriptionIncludes bibliographical references.en_ZA
dc.description.abstractThis dissertation outlines the conceptualisation, design, manufacture, assembly and experimental testing of an affordable anthropomorphic mechanical hand prosthesis. In many countries, upper-limb amputees lack access to prosthetic hand devices. Furthermore, currently available mechanical devices require a large amount of effort to actuate; fatiguing and frustrating patients who have no other alternative but to use them. Consequently, a need has arisen to provide a mechanical device that is affordable enough to be accessible to low and middle-income patients, is functional enough to allow users to easily perform their Activities of Daily Living (ADLs), and is aesthetically appealing enough to ensure that patients feel comfortable and confident when wearing it. Concept solutions of several mechanisms were identified and evaluated from which the final design was selected. Analytical force analysis was used to generate a mathematical model to analyse the response of each dynamic member in the hand. A linear relationship between the input-force and applied grasp-forces of the hand was identified. Finite Element Analysis (FEA) used to investigate the lateral and hyperextensive loading limits of the phalanges, generated results that corresponded well to the experimental outcomes. Amongst the utilised actuation mechanisms (levers, pulleys, tendon-wires, bearings and springs), the tendon-wires were of concern due to their repetitive tensile loading and relative movement with the phalanges. Tensile testing of various tendon-wires and endurance testing of the phalangeal tendon-channels, yielded a combination which surpassed the infinite life requirement of 1,200,000 loading cycles; with carbon-nylon contact wearing at the lowest rate as confirmed by gravimetric tests in accordance with ASTM F2025 (2000). Manufacture of the hand used rapid prototyping in combination with traditional machining methods and standard components, enabling a fully-assembled cost of R 11,628.37; below the required R 18,000 limit. Various power and precision grasping configurations were achieved and the contact forces satisfactorily maintained, using the hand’s built-in locking mechanism. Feedback gathered from the prosthetist and patients suggested making slight alterations to the hand’s aesthetics and to address minor functional challenges, such as the control of the closing trajectory for precision grasps.en_ZA
dc.identifier.apacitationTenim, S. (2014). <i>Design of an affordable anthropomorphic mechanical prosthetic hand</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering. Retrieved from http://hdl.handle.net/11427/13280en_ZA
dc.identifier.chicagocitationTenim, Severin. <i>"Design of an affordable anthropomorphic mechanical prosthetic hand."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering, 2014. http://hdl.handle.net/11427/13280en_ZA
dc.identifier.citationTenim, S. 2014. Design of an affordable anthropomorphic mechanical prosthetic hand. University of Cape Town.en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Tenim, Severin AB - This dissertation outlines the conceptualisation, design, manufacture, assembly and experimental testing of an affordable anthropomorphic mechanical hand prosthesis. In many countries, upper-limb amputees lack access to prosthetic hand devices. Furthermore, currently available mechanical devices require a large amount of effort to actuate; fatiguing and frustrating patients who have no other alternative but to use them. Consequently, a need has arisen to provide a mechanical device that is affordable enough to be accessible to low and middle-income patients, is functional enough to allow users to easily perform their Activities of Daily Living (ADLs), and is aesthetically appealing enough to ensure that patients feel comfortable and confident when wearing it. Concept solutions of several mechanisms were identified and evaluated from which the final design was selected. Analytical force analysis was used to generate a mathematical model to analyse the response of each dynamic member in the hand. A linear relationship between the input-force and applied grasp-forces of the hand was identified. Finite Element Analysis (FEA) used to investigate the lateral and hyperextensive loading limits of the phalanges, generated results that corresponded well to the experimental outcomes. Amongst the utilised actuation mechanisms (levers, pulleys, tendon-wires, bearings and springs), the tendon-wires were of concern due to their repetitive tensile loading and relative movement with the phalanges. Tensile testing of various tendon-wires and endurance testing of the phalangeal tendon-channels, yielded a combination which surpassed the infinite life requirement of 1,200,000 loading cycles; with carbon-nylon contact wearing at the lowest rate as confirmed by gravimetric tests in accordance with ASTM F2025 (2000). Manufacture of the hand used rapid prototyping in combination with traditional machining methods and standard components, enabling a fully-assembled cost of R 11,628.37; below the required R 18,000 limit. Various power and precision grasping configurations were achieved and the contact forces satisfactorily maintained, using the hand’s built-in locking mechanism. Feedback gathered from the prosthetist and patients suggested making slight alterations to the hand’s aesthetics and to address minor functional challenges, such as the control of the closing trajectory for precision grasps. DA - 2014 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2014 T1 - Design of an affordable anthropomorphic mechanical prosthetic hand TI - Design of an affordable anthropomorphic mechanical prosthetic hand UR - http://hdl.handle.net/11427/13280 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/13280
dc.identifier.vancouvercitationTenim S. Design of an affordable anthropomorphic mechanical prosthetic hand. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering, 2014 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/13280en_ZA
dc.language.isoengen_ZA
dc.publisher.departmentDepartment of Mechanical Engineeringen_ZA
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subject.otherMechanical Engineeringen_ZA
dc.titleDesign of an affordable anthropomorphic mechanical prosthetic handen_ZA
dc.typeMaster Thesis
dc.type.qualificationlevelMasters
dc.type.qualificationnameMSc (Eng)en_ZA
uct.type.filetypeText
uct.type.filetypeImage
uct.type.publicationResearchen_ZA
uct.type.resourceThesisen_ZA
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