Functional anthropomorphic mobile hand prosthesis

Ljudska šaka je vrlo kompleksna mehanička struktura koja omogućava hvatanje i preciznu manipulaciju objektima različitih veličina i oblika. Ukoliko nesretnim okolnostima dođe do gubitka funkcije šake, ova važna funkcija može se djelomično nadomjestiti protezom šake. Današnje mehaničke proteze šake vrlo su skupi i kompleksni mehanizmi. Ubrzanim razvojem meke robotike i sve raširenije tehnologije trodimenzionalnog ispisa otvara se mogućnost izrade jeftinijih, sigurnijih i jednostavnijih modela proteza bez potrebe za pretjeranom kompleksnošću mehaničkih proteza. U ovom radu razrađen je proces izrade prijenosne proteze šake. Izrađen je trodimenzionalni model šake koji je zatim materijaliziran tehnologijom trodimenzionalnog printa. Prije samog trodimenzionalnog printa bilo je potrebno odabrati odgovarajući materijal i ispitati njegova svojstva. Zatim je bilo potrebno odabrati dijelove te izraditi pneumatski sustav upravljanja koji će omogućiti aktuaciju šake. Upravljanje pneumatskim sustavom realizirano je povezivanjem pneumatskog sustava sa mikrokontrolerom koji će na temelju očitanja sa senzora upravljati elektromehaničkim komponentama sustava. Da bi cijeli sustav bio prijenosan, bilo je potrebno osmisliti i napraviti prijenosni izvor energije koji će osigurati dovoljnu autonomiju sustava. Nakon odabira svih komponenti sustava iste je bilo potrebno povezati u funkcionalnu cjelinu.Human hand is very complex mechanical structure which enables humans to grab and manipulate with objects of different sizes and shapes. If loss of hand function happens, this very important function can be partially replaced by hand prostheses. Hand prosthesis available today are very complex and pricey mechanisms. Rapid development of soft robotics and the increasingly widespread technology of three-dimensional printing opens the possibility of making cheaper, safer and simpler models of prostheses without the need for excessive complexity of mechanical prostheses. In this paper, the process of making a portable hand prosthesis is elaborated. A three-dimensional model of the hand was made, which was then materialized with 3D printer. Before the print itself, it was necessary to select the appropriate material and examine its properties. Then it was necessary to make a pneumatic control system and select parts that will allow actuation of the hand. The control of the pneumatic system is realized by connecting the pneumatic system with a microcontroller which will control the electromechanical components of the system based on the readings from the sensors. In order for the whole system to be portable, it was necessary to design and make a portable energy source that would ensure sufficient autonomy of the system. After selecting all the components of the system, it was necessary to connect them into a functional unit