Bandara D S V, Gopura R A R C, Hemapala K T M U, Kiguchi Kazuo
Bionics Laboratory, Department of Mechanical Engineering, University of Moratuwa, Katubedda, Sri Lanka.
Bionics Laboratory, Department of Mechanical Engineering, University of Moratuwa, Katubedda, Sri Lanka.
Med Eng Phys. 2017 Oct;48:131-141. doi: 10.1016/j.medengphy.2017.06.034. Epub 2017 Jul 18.
An anthropomorphic transhumeral robotic arm prosthesis is proposed in this study. It is capable of generating fifteen degrees-of-freedom, seven active and eight passive. In order to realize wrist motions, a parallel manipulator-based mechanism is proposed. It simulates the human anatomical structure and generates motions in two axes. The hand-of-arm prosthesis consists of under-actuated fingers with intrinsic actuation. The finger mechanism is capable of generating three degrees of freedom, and it exhibits the capability of adjusting the joint angles passively according to the geometry of the grasping object. Additionally, a parameter to evaluate finger mechanisms is introduced, and it measures the adoptability of a finger mechanism. In order to verify the mechanism's efficacy in terms of motion generation, motion simulation and kinematic analysis were carried out. Results demonstrated that the mechanisms are capable of generating the required motions.
本研究提出了一种拟人化经肱骨机器人手臂假肢。它能够产生十五个自由度，其中七个主动自由度和八个被动自由度。为了实现手腕运动，提出了一种基于并联机器人的机构。它模拟人体解剖结构并在两个轴上产生运动。上臂假肢的手部由具有固有驱动的欠驱动手指组成。手指机构能够产生三个自由度，并且它具有根据抓取物体的几何形状被动调整关节角度的能力。此外，引入了一个评估手指机构的参数，它测量手指机构的适应性。为了验证该机构在运动生成方面的有效性，进行了运动模拟和运动学分析。结果表明，这些机构能够产生所需的运动。
