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Dec 15th, 2018
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  1. Mechanical
  2. Mechanical design of this project is based upon user demand on modularity and scalability. In a Sparthan-equipped prosthetic hand, the two main sections of the mechanical system can be described as:
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  4. Sparthan module
  5. The Sparthan module enables 3d printed prosthetic hands to be controlled myoelectrically. It houses the Sparthan controller board and five geared DC motors securely. Attached to each geared motor shaft is a roller, which pulls or releases a piece of string when the motor spins, allowing the string to act as tendon controlling the movement of prosthetic fingers. Hollow paths routed through the module housing guides the piece of string to the 3d printed prosthetic hand. Additional slots and holes are present in the module housing to allow routing of power and data cables.
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  7. The Sparthan module housing is designed for manufacturing. To ensure the Sparthan module can be scalable to meet potential high demand, and varying manufacturing capabilities of makers across the world, the module housing can be produced by either stacking laser cut plastic sheets or 3d printed.
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  9. When choosing the housing material, the following requirements were considered:
  10. Maximum working temperature has to withstand the high temperatures generated by the geared motors.
  11. The material has to be available in sheet form for laser cutting and in filament form for FDM 3d printing.
  12. The material has to be durable and impact resistant for rough daily life use.
  13. Driven by the above requirements, polycarbonate (PC) was chosen as the housing material.
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  15. Prosthetic hand
  16. The Sparthan module is designed in a way such that it can be easily fitted into 3d printable prosthetic hand models with simple modifications. A Sparthan-ready prosthetic hand model is produced by boolean subtracting the Sparthan module from the original hand model, followed by cutting string paths that join the Sparthan module and fingers. Due to its close resemblance to a human hand, the Flexy Hand 2 prosthetic hand model was chosen as the basis for the first Sparthan-ready prosthetic hand.
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