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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >A Bioinspired Lightweight Wrist for High-DoF Robotic Prosthetic Arms
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A Bioinspired Lightweight Wrist for High-DoF Robotic Prosthetic Arms

机译：用于高自由度机器人假肢的受生物启发的轻型手腕

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摘要

The prosthetic arms generally face several challenges: most critically, they are not lightweight to the users and do not provide full degrees of freedom (DoF) for the arms. In order to address this problem, we propose a novel bioinspired lightweight and high-DoF wrist for prosthetic arms. The proposed robotic wrist is lightweight, albeit more dexterous by simplifying the human wrist structure into a two-row ellipsoid joint and implementing novel ligament routing. The two-row ellipsoid structure effectively reduces the weight of the full-DoF wrist within sufficient ranges of motion required for its mobility. A novel routing-by-ligament tunnel allows for the employment of stiffer ligaments in a compact structure, thereby securing the full DoF of the wrist without compromising its load capacity. We conducted a musculoskeletal simulation to show that the bioinspired wrist helps to increase the energy efficiency of the entire upper limb. Our experimental results demonstrated that the proposed wrist greatly reduces the weight of the entire prosthetic arm while improving its range of motion, tensile stiffness, and the control performance.
机译：假肢通常面临几个挑战：最关键的是，假肢对使用者而言并不轻巧，并且不能为假肢提供完全的自由度（DoF）。为了解决这个问题，我们提出了一种新颖的受生物启发的轻巧和高自由度的手腕假肢手腕。拟议中的机械手腕是轻型的，尽管它通过将人类手腕结构简化为两行椭圆形关节并实施新颖的韧带布线而更加灵巧。两行椭球结构在其移动性所需的足够运动范围内有效减轻了全自由度腕部的重量。一种新颖的按韧带布线路径，可在结构紧凑的情况下使用较硬的韧带，从而确保腕部的完全自由度，而不会影响其负载能力。我们进行了肌肉骨骼模拟，以表明受到生物启发的手腕有助于提高整个上肢的能量效率。我们的实验结果表明，提出的手腕可大大减轻整个假肢的重量，同时改善其运动范围，拉伸刚度和控制性能。

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