Towards a Myoelectric Prosthetic Wrist with Rigid and Compliant Behaviour

P. Capsi-Morales, C. Piazza, G. Grioli, A. Bicchi, M. G. Catalano

Publikation: Beitrag in Buch/Bericht/KonferenzbandKapitelBegutachtung

Abstract

The simple kinematics of commercial prosthetic wrists limits the individuals in performing a wide range of tasks and restore natural motor functions. We propose a functional prosthesis that improves grasping capabilities through the addition of a simple yet useful 3 DoF myoelectric wrist joint with compliant and rigid properties. Its locking capability enables the adjustment of hand configuration in pre-grasping phases and separates the hand motion from the wrist motion. The proposed wrist, combined with a prosthetic hand, was tested with 8 able-bodied subjects and 1 subject with limb loss. It was compared to a common commercial rotational wrist and to subjects’ natural wrist. Results evidence the feasibility of the prototype, improved performance capabilities, and the subjects’ first impression about the proposed system. Finally, a prosthesis user tested and compared systems during Activities of Daily Living (ADL).

OriginalspracheEnglisch
TitelBiosystems and Biorobotics
Herausgeber (Verlag)Springer Science and Business Media Deutschland GmbH
Seiten489-493
Seitenumfang5
DOIs
PublikationsstatusVeröffentlicht - 2022

Publikationsreihe

NameBiosystems and Biorobotics
Band28
ISSN (Print)2195-3562
ISSN (elektronisch)2195-3570

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