Troncossi M, Caminati R, Parenti-Castelli V
Department of Mechanical Engineering (DIEM) of the University of Bologna, Viale del Risorgimento 2, 1-40136 Bologna, Italy.
Proc Inst Mech Eng H. 2011 May;225(5):487-98. doi: 10.1177/2041303310393229.
The University of Bologna and the INAIL Prosthesis Centre are collaborating to design new high-functionality prostheses for upper-limb amputees, with a high-level amputation, who are currently rehabilitated by inadequate commercial solutions. This study deals with the development of a new powered humeral rotator that should integrate the prosthesis previously developed by the research group, which is already provided with a terminal device, a wrist rotator, an elbow joint, and a prototype of shoulder articulation composed of two powered revolute joints. This paper focuses on the design methodology that was followed to retrieve the design input data necessary for the development of the humeral rotator. The methodology is mainly based on kinematic and kinetostatic analyses of multibody models of upper-limb prostheses. The kinematic simulations are used to define the ability of the arm models (that have less than the six degrees of freedom required for generically positioning and orienting the terminal device) satisfactorily to perform important activities of daily living, i.e. with an acceptable accuracy. Kinetostatic analyses are then performed to determine the loads acting on the humeral rotator when performing the mentioned activities, thus making it possible to define fundamental design guidelines and technical specifications.
博洛尼亚大学与意大利国家工伤事故保险协会假肢中心正在合作，为上肢高位截肢且目前使用的商业解决方案康复效果不佳的截肢者设计新型高功能性假肢。本研究涉及一种新型动力肱骨旋转器的开发，该旋转器应与研究小组先前开发的假肢集成，该假肢已配备终端装置、腕部旋转器、肘关节以及由两个动力旋转关节组成的肩部关节原型。本文重点介绍了为获取肱骨旋转器开发所需的设计输入数据而采用的设计方法。该方法主要基于上肢假肢多体模型的运动学和静动力学分析。运动学模拟用于定义手臂模型（其自由度少于终端装置一般定位和定向所需的六个自由度）以可接受的精度令人满意地执行重要日常生活活动的能力。然后进行静动力学分析，以确定在执行上述活动时作用在肱骨旋转器上的载荷，从而能够确定基本的设计准则和技术规格。
