Development of a parallel myoelectric prosthesis for above elbow replacement

The parallel prosthesis here described is a novel design that overcomes several problems of traditional serial prosthesis as the developed force, the weight of the prosthesis and the use of the available space. In this work the design, the analysis of the statical and kinematical models and the performance of the prosthesis are discussed. Among the more important results we have a parallel prosthesis with four degrees of freedom driven by four brushless motors. The allowed movements are flexion of the elbow (100°), prono-supination of the forearm (180°), a simulated humeral rotation (90°) and grasping. The total weight is 1010 g. The maximum weight the prosthesis can lift is 2 kg and the time for a total excursion of the flexion of the elbow is about 2 s.