AccScience Publishing / IJB / Volume 8 / Issue 1 / DOI: 10.18063/ijb.v8i1.406
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Fast 3D Modeling of Prosthetic Robotic Hands Based on a Multi-Layer Deformable Design

Li Tian1,2 Jianmin Zheng1,2 Yiyu Cai3 Muhammad Faaiz Khan Bin Abdul Halil3 Nadia Magnenat Thalmann1,4 Daniel Thalmann5 Hanhui Li6*
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1 Institute for Media Innovation, Nanyang Technological University, Singapore
2 School of Computer Science and Engineering, Nanyang Technology University, Singapore
3 School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
4 MIRALab, University of Geneva, Switzerland
5 École Polytechnique Fédérale de Lausanne, Switzerland
6 School of Electrical and Electronic Engineering, Nanyang Technology University, Singapore
Submitted: 13 July 2021 | Accepted: 20 August 2021 | Published: 28 September 2021
© 2021 by the Author(s). This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution 4.0 International License ( )

Current research of designing prosthetic robotic hands mainly focuses on improving their functionality by devising new mechanical structures and actuation systems. Most of existing work relies on a single structure/system (e.g., bone-only or tissue-only) and ignores the fact that the human hand is composed of multiple functional structures (e.g., skin, bones, muscles, and tendons). This may increase the difficulty of the design process and lower the flexibility of the fabricated hand. To tackle this problem, this paper proposes a three-dimensional (3D) printable multi-layer design that models the hand with the layers of skin, tissues, and bones. The proposed design first obtains the 3D surface model of a target hand via 3D scanning, and then generates the 3D bone models from the surface model based on a fast template matching method. To overcome the disadvantage of the rigid bone layer in deformation, the tissue layer is introduced and represented by a concentric tubebased structure, of which the deformability can be explicitly controlled by a parameter. The experimental results show that the proposed design outperforms previous designs remarkably. With the proposed design, prosthetic robotic hands can be produced quickly with low cost and be customizable and deformable.

Prosthetic hand,Soft materials, 3D printing

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International Journal of Bioprinting, Electronic ISSN: 2424-8002 Print ISSN: 2424-7723, Published by AccScience Publishing