Takeda Hiroyuki, Tsujiuchi Nobutaka, Koizumi Takayuki, Kan Hiroto, Hirano Masanori, Nakamura Yoichiro
Department of Mechanical Engineering, Doshisha University, Kyotanabe, Kyoto, Japan.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:5048-51. doi: 10.1109/IEMBS.2009.5333668.
Recently, various prosthetic arms have been developed, but few are both attractive and functional. Considering human coexistence, prosthetic arms must be both safe and flexible. In this research, we developed a novel prosthetic arm with a five-fingered prosthetic hand using our original pneumatic actuators and a slender tendon-driven wrist using a wire drive and two small motors. Because the prosthetic hand's driving source is comprised of small pneumatic actuators, the prosthetic hand is safe when it makes contact with people; it can also operate flexibly. In addition, the arm has a tendon-driven wrist to expand its motion space and to perform many operations. First, we explain the pneumatic hand's drive mechanism and its tendon-driven wrist. Next, we identify the characteristics of the hand and the wrist and construct a control system for this arm and verify its control performance.
最近，各种假肢手臂已被研发出来，但兼具美观与功能性的却寥寥无几。考虑到人类共存，假肢手臂必须既安全又灵活。在本研究中，我们使用原创的气动执行器开发了一种带有五指假手的新型假肢手臂，并使用钢丝绳驱动和两个小型电机设计了一种细长的腱驱动手腕。由于假手的驱动源由小型气动执行器组成，所以当它与人接触时是安全的；它还能灵活操作。此外，该手臂有一个腱驱动手腕，以扩大其运动空间并执行多种操作。首先，我们解释气动假手的驱动机制及其腱驱动手腕。接下来，我们确定假手和手腕的特性，并构建该手臂的控制系统并验证其控制性能。
