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首页> 外文会议>IEEE International Conference on Biomedical Robotics and Biomechatronics >Design and Preliminary Evaluation of a 3-DOF Powered Prosthetic Wrist Device
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Design and Preliminary Evaluation of a 3-DOF Powered Prosthetic Wrist Device

机译：一种三自由度动力假肢手腕装置的设计和初步评估

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摘要

Though the human wrist greatly benefits manipulation by orienting the hand, recreating its functionality in anthropomorphic proportions proves to be difficult. As a result, upper limb amputees who desire wrist functionality must often use often passive single degree of freedom devices to attempt to recover some of this missing ability. In this work, the authors present the preliminary design and kinematic testing of a 3 DOF actuated wrist prosthesis. The device is capable of 90 degrees of circumduction (combined flexion and abduction), and continuous rotation in pronation. The circumducting portion of the wrist is composed of a parallel mechanism, while the pronation drive is a belt-driven serial mechanism. The circumducting DOFs are actuated via nonbackdrivable linear DC motors, and the gear ratio and friction of the pronation mechanism make it nonbackdrivable under reasonable loads as well. The architecture of this wrist was chosen such that when the device is integrated into a transradial socket, the motors could be placed on the socket periphery, allowing amputees with long residual limbs to use the wrist without significantly offsetting the terminal device. Benchtop evaluation of the wrist device is performed to evaluate the speed of the wrist in actuation from the neutral position to a variety of flexion and abduction positions, as well as to evaluate its pronation speed. We find the wrist performs rather near to the ideally expected speed values.
机译：尽管人的手腕通过定向可以极大地有益于操纵，但事实证明，按拟人化的比例重建其功能非常困难。结果，想要腕部功能的上肢截肢者必须经常使用通常被动的单自由度装置来尝试恢复这种缺失的能力。在这项工作中，作者介绍了3 DOF驱动的腕部假体的初步设计和运动学测试。该设备能够绕90度环转（屈曲和外展结合），并在旋前连续旋转。手腕的绕行部分由并联机构组成，而旋前驱动器是皮带驱动的串联机构。环行自由度是通过不可逆驱动的线性直流电动机来致动的，并且齿轮比和旋前机构的摩擦力使其在合理负载下也不可逆驱动。选择此手腕的结构，以便在将设备集成到radi骨插座中时，可以将电机放置在插座的外围，从而允许残肢长的截肢者使用手腕，而不会明显偏移终端设备。进行腕部设备的台式评估，以评估手腕在从中立位置到各种屈曲和外展位置的致动速度，以及评估其旋前速度。我们发现手腕的性能相当接近理想的预期速度值。

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