Yale University

Harvard College

Aaron Michael Dollar

Robert Howe

Joseph Thomas Belter

Kevin Dale Gemmell, Jr

Kamran Shamaei Ghahfarokhi

Michael Leddy

The present invention provides a prosthetic hand capable of multiple grasp types. The prosthetic finger units are underactuated both within and between the finger units using a differential mechanism arrangement. The locking movement of the prosthetic thumb unit is coupled to the differential mechanism. As the user repositions the prosthetic thumb unit, the differential mechanism is effected as to alter both the initial positions and force distribution of the prosthetic finger units. The present invention further provides an additive manufacturing molding method for making the same.

Multi-grasp prosthetic hand

The present invention relates to an impedance modulation device for an orthotic application. The device includes a high-stiffness loading spring, a low-stiffness return spring, a shaft having an output connector, and an engagement mechanism. When the engagement mechanism engages the shaft, the device exhibits a high stiffness at the output connector, and wherein when the engagement mechanism disengages the shaft, the device exhibits a low stiffness at the output connector.

Friction-based orthotic impedence modulation device

A multi-fingered underactuated mechanical grasping system driven by a single actuator, yet can grasp objects spanning a wide range of size, shape, and mass. A member for moving a link relative to a base acts in parallel to a direction of compliance of a joint between the link and the base. The joint has a plurality of degrees of freedom. The number of members for moving links in the grasping system is less than the number of degrees of freedom in the grasping system.

Growing community of inventors

New Haven, CT, United States of America

Aaron Michael Dollar