Montagnani Federico, Smit Gerwin, Controzzi Marco, Cipriani Christian, Plettenburg Dick H
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:1197-1202. doi: 10.1109/ICORR.2017.8009412.
State of art upper limb prostheses lack several degrees of freedom (DoF) and force the individuals to compensate for them by changing the motions of their arms and body. Such movements often yield to articulation injuries, nonetheless these could be prevented by adding DoFs, for instance, an articulated passive wrist. Available stiff or compliant wrists with passive flexion/extension and/or radial/ulnar deviation are sub-optimal solutions. Indeed, stiff wrists induce the individuals wearing them to perform exaggerated compensatory movements during the reaching phase while compliant wrists proved to be unpractical while manipulating heavy objects. Here we present a wrist capable of combining the benefits of stiff and compliant wrists. It is provided with two switchable levels of passive compliance that are automatically selected. The prototype was integrated in a body-powered hydraulic hand prosthesis and actuated using the same hydraulic circuit of the hand. Detailed analysis of the parameters that affect the compliance, the critical load and the performance of the prosthesis are presented.
当前最先进的上肢假肢缺乏多个自由度（DoF），这迫使使用者通过改变手臂和身体的动作来进行补偿。这样的动作常常会导致关节损伤，不过，通过增加自由度，比如一个可活动的被动手腕，这些损伤是可以预防的。现有的具有被动屈伸和/或桡尺偏斜功能的刚性或柔顺手腕都是次优解决方案。事实上，刚性手腕会促使佩戴者在伸手阶段进行夸张的补偿动作，而柔顺手腕在操作重物时被证明不实用。在此，我们展示一种能够兼具刚性和柔顺手腕优点的手腕。它具有两个可自动切换的被动柔顺级别。该原型被集成到一个身体驱动的液压假手中，并使用与手部相同的液压回路进行驱动。文中还对影响柔顺性、临界负载和假肢性能的参数进行了详细分析。
