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Adaptive Grip Mechanism for Prosthetic Hand
Most of the 3D-printed prosthetic hands have adjustable tensioners that tune the tendons to each finger so that the all work together as the wrist flexes and pulls on the tendon cords. This grip is not optimal for grasping odd-shaped objects.3D printer parts and enhancements
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The Whippletree idea came from Steve Wood (Gyrobot) created triangle-shaped connectors that allow fingers to flex individually until they all meet resistance. http://www.thingiverse.com/thing:392970 This allows the grip to conform to the shape of the object being grasped.
With pegs made from 3mm filament serving as pulleys, this device simplifies Wood’s mechanism by replacing his small triangles with posts (pegs made from 3mm filament) that serve as pulleys. It works with the Raptor Adaptor https://www.youmagine.com/designs/the-raptor-adaptor-v1-0. On 31 Jan 2015 removed the original design to avoid confusion. This design allows use of a small zip-tie on the central peg. The thumb should be tensioned separately, tied to a separate zip-tie.
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