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Finger Group

The human hand is composed of many veins, muscles, tendons, bones, and nerves. Our group
specified on the fingers. Each finger is composed of three bones the distal phalanges, middle phalanges,
and the proximal phalanges. The thumb does not have a middle phalange. The bones provide the
structure and the strength of the fingers. The bones are made out of calcium phosphate and are incredibly
strong and durable. In our design we want to use a material that is as stronger as a human bone but cost
effective.
The fingers move by the flexion and the extension of the tendons that are on the fingers. The
tendons on the inside of your hand are called the flexor digitorum profundus and they are responsible for
the fingers flexing inwards making a fist. (See fig1 and fig 2) The tendon on top of your hand is called the
extensor digitorum. (fig 2) This tendon is responsible of the extension of your fingers not including the
thumb. The tendons that are responsible for the extension of the thumb are called the extensor pollicus
longus and the extensor pollicus brevis. The extensor pollicus longus tendon is responsible for the top part
of the thumb, distal phalange, to flex, and the extensor pollicus brevis bends the entire thumb inwards
with help from the muscle in the palm.(fig 4) All of these tendons are operated by muscles in your
forearm. When the muscle flexes it pulls on the tendon and when the muscle relaxes in gives slack to the
tendon. The fingers also have the ability to move side to side. Instead of a tendon it uses a muscle that is
connected to the bottom sides of the proximal phalanges. The muscles are called the Dorsal interossei and
they move the fingers laterally.(figure 3)
The finger joints are condyloid joints. Joints with an oval surface on one bone fits into an oval
shaped hole in the other bone. The joint that connects the fingers to the palm, also known as the knuckles,
are hinge joints. Each finger, besides the thumb, has two condyloid joints and one hinge joint. The thumb
only has one condyloid joint.
The nerves are important for feeling and touch. Most of the nerves are at the tips of the fingers
because they are the most sensitive. The veins throughout the hand provide the fuel for the muscles and
nutrients to the rest of the hand. The designs that we came up with will all need a power source to operate.
Some will need more power than others but all of the designs need power. We feel that the touch sensors
throughout the prosthetic, to simulate nerves, will not be needed for the the han. With our task that are
needed to be completed the touch sensors will not be necessary for the hand.

The standard claw.


This is the system that is the most prevalent right now. It works using the motion of the amputee reaching
out with the claw to open and then is closed with a heavy duty rubber band or a spring. This simple
design is by nature rugged and water resistant though it lacks the finer control that a hand has. The
benefit of this design is that there are no electronic parts to fail or worry about. The greatest challenge
with the claw design is opening and closing the claw without another hand. This is accomplished using a
cable that shortens when you extend your arm 6m pulling in a lever on the moving side of the claw to
open. to close the claw you relax your arm a spring pulls the claw closed. the downfall of this hand
design is that it is of little use outside of the basic grasping when more control is needed this hand design

fails. The claw also lacks a feedback loop needed to handle more delikt items making it uses for tasks
that require dexterity like gaming and some parts of cooking and driving.
Prosthetic hand: motors built into the fingers.
This design uses motors built right in to the fingers to move the fingers. To maximize power and reduce
the likelihood that the fingers are forced open a worm and helical spur gear are used. Apposed to two
bevel gears bias this way wont require a gear box and maximizes the size of the motor. The motor drives
the worm gear which drives the spur gear molded into the joint of to bend and straighten the finger. The
basics of the design can be demonstrated using a Lego Technic set that includes a worm and spur gears,
axles, and standard (technic) building parts (as seen in figure 1). The design uses the properties of worm
gears to gain a mechanical advantage and to keep the hand from being forced open or closed. This will
keep items from slipping from its grip motor is not powered helping conserve energy when the hand is
under load for long periods of time. The disadvantage of this design is the size of the motor is severely
limited unlike in a tendon system where the motors can be larger when located above the wrist these must
be located in the fingers for the system to be feasible. Limiting the motor to about a 7/8in diameter by 1in
tall cylinder as the maximum size the motor can be. This limitation reduces motor power and speed.
Even so moters still exist at this small size and are used to power small RC air craft. The benefit of the
system is that you dont need to constantly power the motor to keep the hand in a single position and the
motors are out of the way freeing room for processors and batteries. An additional difficulty is covering
the moving parts and keeping them lubricated to prevent wear. This is not a major problem in the tendon
designs but can be solved in this design by using a rubber diagram like what is used over CV joints and
on the end of a rack and pinion steering system. The idea came from the need to maximize motor size
while keeping the motor inside the finger. Worm gears offer numerous advantages bevel gears one is
mentioned a above the other is matter the size of the worm gear is it is always a step down.

Tendon design
The tendon design is a design for the fingers that operates using a system of wires or tendons
to pull at the tip of the finger to flex and extend. The general design operates and appears very similar to a
human finger, with three sections connected by two hinges.
Each segment of the finger is the same height and width, half an inch by half an inch, but differs
in length. The longest section of the finger is the base, one and a half inches long, followed by the middle
section, one and a quarter inches long, and the shortest is the tip of the finger, only one inch long. The
base and the middle sections have grooves running in the middle of the top face and bottom face along the
whole length of the section. The grooves are 0.075 inches wide and 0.125 inches deep. At the start and
end of each groove there is a crossbar across the top of the groove, 0.075 inches in width and 0.0625
inches in height, across the entire width of the groove. To allow the finger to flex, a 45 degree triangular
prism is cut away from the bottom of the section at the joint between two sections. Finally, a hinge is
present at each joint between the sections, in such a way as to allow the two sections to nest inside its
joined section. (See figures 7, 8, and 9 for design parameters of each section)
This design holds many advantages over the hook design and the motor in finger design. It allows
the motors that control the fingers to be located away from the fingers, reducing the size of the fingers
and allowing the fingers to be mostly solid to increase their strength. Another advantage over the motor in
finger design is that the tendon design reduces the number of motors needed for each finger, reducing the
cost and complexity of each finger. Advantages over the hook design include greater dexterity and a more
similar appearance to a normal human hand, reducing possible bullying or self confidence issues with the

prosthetic.Advantages over the motor design are that it will be more balanced and it less complicated to
move each individual bone in finger.
We would also include another tendon at the bottom of the pinky and the index finger to move the
finger side to side. the motor would pull one side the will moving it toward the motor and the same for the
other side.Turn the motor on the other side to pull it back. It will not be needed for the inside fingers
because for the task at hand it will not be needed.
Disadvantages of this design in its current state include an inability to retain grip, if an outside
force is applied to the finger. As well, it is difficult to replace wires inside the finger.

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Sources
"Hand." Anatomy, Pictures & Diagram. N.p., n.d. Web. 26 Nov. 2014.
"Conditions and Treatments." Conditions and Treatments. N.p., n.d. Web. 26 Nov. 2014.
"Joints of the Wrist, Hand, and Fingers." - For Dummies. N.p., n.d. Web. 26 Nov. 2014.
"Condyloid Joint." Wikipedia. Wikimedia Foundation, 26 Nov. 2014. Web. 26 Nov. 2014.
"Hinge Joint." Wikipedia. Wikimedia Foundation, 26 Nov. 2014. Web. 26 Nov. 2014.
"Hand Surgery1st Edition." Tendon Disorders: De Quervains Disease, Trigger Finger, and
Generalized Tenosynovitis. N.p., n.d. Web. 26 Nov. 2014.
Engineering, Learn. Youtube. 6 November 2014. video. 7 november 2014.
Fillauer. hosmer hooks. n.d. web page. 22 November 2014.
Hobby King. Motor Finder. n.d. web store. 25 November 2014.

Worm Gears. n.d. web page. 25 November 2014.

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