Robotic hand design with linear actuators based on Toronto development

Palabras clave

robotic hand
degree of freedom
Toronto's mechanism
lineal actuator

Cómo citar

Vargas, O., Flor, O., & Toapanta, C. (2020). Robotic hand design with linear actuators based on Toronto development. Athenea, 1(1), 22-28.


In this work, the design of a robotic hand with 7 degrees of freedom is presented that allows greater flexibility, achieving the usual actions performed by a normal hand. The work consists of a prototype designed with linear actuators and myoelectric sensor, following the mechanism of the University of Toronto for the management of functional phalanges. The design, construction description, components and recommendations for the elaboration of a flexible and useful robotic hand for amputee patients with a residual limb for the socket are presented.

Keywords: Robotic hand, Degree of freedom, Toronto´s Mechanism, lineal actuator.


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