Variable Transmission Grasping Prosthesis

In Fall 2022, I joined the Embodied Dexterity Group research lab where I worked on the variable transmission grasping prosthesis. Early testing had shown that a variable transmission (similar to that used in automatic CVT cars) could increase dexterity and minimize exertion. I assembled an early prototype that used a changing lever arm that increased drive ratio as the grasper closed. I designed several variations that used straight line mechanisms but these were eventually abandoned due to complexity. I then transitioned to a powered rack and pinion lever arm system in the final prototype that will be used for user testing in Spring 2023.