Development of a multi-DoF transhumeral robotic arm prosthesis
Development of a multi-DoF transhumeral robotic arm prosthesis
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DOI：
10.1016/j.medengphy.2017.06.034
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发表时间：
2017-10-01
影响因子：
2.2
通讯作者：
Kiguchi, Kazuo
中科院分区：
文献类型：
--
作者：
Bandara, D. S. V.;Gopura, R. A. R. C.;Kiguchi, Kazuo
本研究提出一种拟人化的经肱骨机械臂义肢。它能够产生15个自由度，7个主动和8个被动。为了实现手腕运动，提出了一种基于并联机器人的机构。它模拟人体解剖结构，并在两个轴上产生运动。手的手臂假肢包括欠驱动的手指与内在驱动。手指机构能够产生三个自由度，并且它表现出根据抓取物体的几何形状被动地调整关节角度的能力。此外，还引入了一个评价手指机构的参数，该参数可以衡量手指机构的适应性。为了验证该机构在运动生成方面的有效性，进行了运动仿真和运动学分析。结果表明，该机构能够产生所需的运动。(C)2017年IPEM。由爱思唯尔有限公司出版。保留所有权利。
An anthropomorphic transhumeral robotic arm prosthesis is proposed in this study. It is capable of generating fifteen degrees-of-freedom, seven active and eight passive. In order to realize wrist motions, a parallel manipulator-based mechanism is proposed. It simulates the human anatomical structure and generates motions in two axes. The hand-of-arm prosthesis consists of under-actuated fingers with intrinsic actuation. The finger mechanism is capable of generating three degrees of freedom, and it exhibits the capability of adjusting the joint angles passively according to the geometry of the grasping object. Additionally, a parameter to evaluate finger mechanisms is introduced, and it measures the adoptability of a finger mechanism. In order to verify the mechanism's efficacy in terms of motion generation, motion simulation and kinematic analysis were carried out. Results demonstrated that the mechanisms are capable of generating the required motions. (C) 2017 IPEM. Published by Elsevier Ltd. All rights reserved.