Title :
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
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;
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
DOI :
10.1109/RAMECH.2006.252716
