Development of a Bio-Inspired Wrist Prosthesis

Author

Mustafa, Shabbir Kurbanhusen ; Yang, Guilin ; Yeo, Song Huat ; Lin, Wei ; Pham, Cong Bang

Author_Institution

Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore

fYear

2006

fDate

1-3 June 2006

Firstpage

1

Lastpage

6

Abstract

This paper presents a novel mechanical design of a 3-DOF wrist prosthesis. Mimicking biological solutions from the human arm anatomy, the wrist prosthesis is designed to have a parallel structure and is cable-driven. This results in a much lighter prosthesis, with higher loading capacity as compared to a rigid-linked, serial structured design. Based on the wrist joint capabilities, this paper focuses on the cable tension, stiffness and workspace analyses. This is to develop a comprehensive framework to optimize the wrist prosthesis design. Finally, a prototype is fabricated based on the optimization results

Keywords

artificial limbs; handicapped aids; 3-DOF wrist prosthesis; arm anatomy; bioinspired wrist prosthesis design; biological solution; cable stiffness; cable tension; mechanical design; rigid-linked design; serial structured design; workspace analysis; wrist joint capability; Anatomy; Control systems; Design optimization; Humans; Joints; Maintenance; Motion control; Prosthetics; Prototypes; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252716

Filename

4018832