Browsing by Author "Gosselin, Clement M."

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    Control of Finger Stiffness in Hand Prostheses
    (1995) Bernier, Sophie; Rancourt, Denis; Gosselin, Clement M.
    The objective of this research is to improve the performance of hand prostheses by controlling finger stiffness in comercially available prostheses, finger stiffness cannot be modulated yet, stiffness may be helpful to stabilize a grasp and enhance the performance of a prosthesis. For instance, stiffness partially determines finger response to a perturbation. For a given displacement, the orientation of the restoring force varies with stiffness. Moreover, stiffness is the inverse of compliance: for a given external force, a low finger stiffness would result in a large finger displacement while a high stiffness results in a small displacement. In order to establish guidelines for the design of a prosthesis with compliant fingers, a theoretical study of human finger stiffness has been initiated. We want to investigate the range of endpoint stiffness in human finger.
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    Design Of A Hand Prosthesis Based On Kinematics Principles
    (1995) Routhier, Francois; Rancourt, Denis; Gosselin, Clement M.
    Commercially available child hand prostheses prehensms usually have one degree of freedom (DOF) and one phalanx per finger. Such mechanism does not allow adequate encirclement of objects and its low compliance leads to instability of the object in presence of external perturbations. The goal of this research px oject is to modify an existing child hand prosthesis prehensor by adding an extra phalanx to each of the fingers. This new design should increase the munber of possible grasps, their robustness and their compliance. The kinematics and dexterity of the mechanism, along with the static stability of the grasps are the selected design cliteria. The objective is to design an actuating mechanism while respecting the reduced space available in the case of child prostheses.