A multi-DoF anthropomorphic transradial prosthetic arm

Bandara, D. S. V.; Gopura, R. A. R. C.; Hemapala, K.T.M.U.; Kiguchi, Kazuo

doi:10.1109/biorob.2014.6913917

Cited by 19 publications

(26 citation statements)

References 13 publications

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“…The design of this trans‐radial prosthesis is more identical to the anatomical structure of biological hand. The designed two links to achieve wrist motions are almost similar to the two bones (Figure ) in forearm: ulna and radial . The proposed prosthetic hand can produce seven DoFs by using three actuation modules to actuate thumb, index finger, and remaining three fingers separately .…”

Section: Hardware Systems Of Terminal Devices and Prosthetic Wristsmentioning

confidence: 98%

“…This device has been designed to achieve high speed in operation and high positional accuracy along with better anthropomorphic features. The prosthetic hand is designed based on intrinsic and under‐actuated principles and the prosthetic wrist is designed based on a novel mechanism . The design of this trans‐radial prosthesis is more identical to the anatomical structure of biological hand.…”

Section: Hardware Systems Of Terminal Devices and Prosthetic Wristsmentioning

confidence: 99%

“…In addition to being physiologically challenged, most amputees are also psychologically affected as they find it hard or impossible to perform essential activities of daily living (ADL). As a solution, wearable devices known as prostheses were introduced to provide the functionality and/or appearance of the missing body part …”

Section: Introductionmentioning

confidence: 99%

“…According to literature, trans‐radial prostheses can be broadly classified into three main types, namely cosmetic prostheses, body‐powered prostheses, and externally powered prostheses . Although there had been a marked improvement in functionality, performance, and appearance of subsequent generations of trans‐radial prostheses, the robotic counterparts are still lacking in certain areas to restore or mimic the missing segments of the biological limb . In particular, most trans‐radial prostheses are designed to perform few grasping tasks with limited degrees of freedom (DoFs), where a healthy human hand‐wrist has a total of 27 DoFs .…”

Section: Introductionmentioning

confidence: 99%

“…In particular, most trans‐radial prostheses are designed to perform few grasping tasks with limited degrees of freedom (DoFs), where a healthy human hand‐wrist has a total of 27 DoFs . Moreover, externally powered trans‐radial prostheses are typically limited in operation due to high power consumption, complexity in operation, and/or bulkiness of the device . In order to develop an anthropomorphic prosthetic hand and/or wrist key factors such as size, shape, weight, number of independently actuated DoFs, level of sensory feedback, and speed of operation, magnitude of grasping force needs to be carefully considered at the design stage .…”

Section: Introductionmentioning

confidence: 99%

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Transradial prostheses: Trends in development of hardware and control systems

Semasinghe

Madusanka

Ranaweera

et al. 2018

Robotics Computer Surgery

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Background Prosthesis is a wearable device that intends to provide the functionality and/or appearance of a missing body part. In the case of trans‐radial prostheses, the wearer or the trans‐radial amputee is fitted with an artificial wrist and a hand that is either mechanically or electro‐mechanically operated. Main aim is to enable the wearer to perform activities of daily living with minimal external assistance. Methods In this review paper, hardware systems of state‐of‐the‐art trans‐radial prostheses have been briefly discussed. Focus is to provide an insight on the latest technologies employed in development of its mechanical systems: terminal devices, artificial wrist joints, and body attachments. In that context, latest hardware designs on terminal devices for grasping motion are presented as it is the primary function of trans‐radial prostheses. Hardware designs of prosthetic wrists and body attachments are also reviewed. Finally, latest trends and future directions on design of trans‐radial prostheses are explored and presented. Conclusions Size, shape, weight, durability, appearance, and functionality are the key factors that need to be considered when developing a trans‐radial prosthesis. Moreover, the current developments are moving closer to a human upper limb. However, the availability of these devices is minimum due to high‐tech involved and the high cost, which necessitates further development trans‐radial prostheses.

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Section: Hardware Systems Of Terminal Devices and Prosthetic Wristsmentioning

confidence: 98%

Section: Hardware Systems Of Terminal Devices and Prosthetic Wristsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Transradial prostheses: Trends in development of hardware and control systems

Semasinghe

Madusanka

Ranaweera

et al. 2018

Robotics Computer Surgery

View full text Add to dashboard Cite

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A Concise Review of Upper Limb Prostheses

Sandu,

Doroftei,

Cazacu

2024

Mechanisms and Machine Science

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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist

et al. 2021

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The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to achieve. This study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulator with a novel roll-pitch-yaw spherical wrist. A hybrid series-parallel mechanism is presented to achieve the spherical wrist design, which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll structure. Designed as a 1RPRRR-1SPU mechanism (“R”, “P”, “S”, and “U” denote revolute, prismatic, spherical, and universal joints, respectively; the underlined letter indicates the active joint), the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain “RPRR” is included. The 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic computation. The analytical inverse kinematic solution is drawn by constructing self-motion manifolds. Finally, a physical prototype is developed, and the kinematic analysis is validated via numerical simulation and test results.

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A multi-DoF anthropomorphic transradial prosthetic arm

Cited by 19 publications

References 13 publications

Transradial prostheses: Trends in development of hardware and control systems

Transradial prostheses: Trends in development of hardware and control systems

A Concise Review of Upper Limb Prostheses

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist

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