Development of Individual-Adaptive Shoulder Prosthetic Systems

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This project aims at developing a trans-humeral prosthesis which can be used in daily living. A hybrid robotic arm was designed with pneumatic actuators and servo motors, taking into consideration the range of motion (ROM) and impact absorption. After verified with a simulation study, a robotic arm less than 800g, with 5 DOFs (degree of freedom) was prototyped. An adaptive user interface was established, in which around-shoulder bio-signals were used to detect direction of reaching and configuration of grasping to make. An audio-feedback for tactile information and joint angles was built. All the components developed were integrated to a trans-humeral prosthesis, and the effectiveness of each components and the system as a whole was verified through a set of experiments.