Desarrollo de prototipo de mano robótica para manipulación de objetos livianos aplicando robótica suave

Abstract

Within the intricate functioning of the human body lies the key to the well-being and independence of individuals. While the brain plays a crucial role in distinguishing humans from other creatures, there are other essential elements that are fundamental for human development and success. An eloquent example of this significance is the human hand, the absence of which triggers profound impacts both in the physical and psychological realms of an individual. In this context, an innovation challenge arises: the majority of prosthetics available in the market are characterized by their rigidity, limiting their effectiveness and their ability to interact safely with the environment. The response to this issue finds its echo in the field of soft robotics technology, emerging as a promising alternative. This thesis presents an exploration into the design and development of a soft robotic hand prosthesis, where the implementation of dual-mode actuators takes center stage. The primary objective is to craft a prototype that not only ensures safety in interacting with the environment but also enhances the functionality of individuals with disabilities, providing them an experience akin to having a human hand.