Mechatronic Design of an Upper Limb Prosthesis with a Hand

被引：0
|
作者：
He, Lei [1 ]
Xiong, Caihua [1 ]
Zhang, Keke [1 ]
机构：
[1] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan 430074, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2014, PT I | 2014年 / 8917卷
关键词：
upper limb prosthesis; mechatronics; underactuation; rehabilitation;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents an upper limb prosthesis called IRR, which consists of a 7 DOF fully-actuated arm and a 15-DOF underactuated hand. The prosthesis is aimed to grasp a wide range of objects and perfectly reproduce the movement of the human upper limb. The main development is focused on the requirements of small size, light weight, high functionality and good cosmetic appearance. First, mechanisms of the prosthesis have been designed. Then, highly reliable embedded electronics, effective control architecture are devised to manage complexity of the system. Finally, multi-mode grasping and drinking water experiments have been done to test the ability of the prosthesis to reproduce human activities of daily lives.
引用
收藏
页码：56 / 66
页数：11
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