Annu Int Conf IEEE Eng Med Biol Soc. 2021 Nov;2021:4529-4532. doi: 10.1109/EMBC46164.2021.9631108.
Upper limb prosthesis has a high abandonment rate due to the low function and heavyweight. These two factors are coupled because higher function leads to additional motors, batteries, and other electronics which makes the device heavier. Robotic emulators have been used for lower limb studies to decouple the device weight and high functionality in order to explore human-centered designs and controllers featuring off-board motors. In this study, we designed a prosthetic emulator for transradial (below elbow) prosthesis to identify the optimal design and control of the user. The device only weighs half of the physiological arm which features two active wrist movements with active power grasping. The detailed design of the prosthetic arm and the performance of the system is presented in this study. We envision this emulator can be used as a test-bed to identify the desired specification of transradial prosthesis, human-robot interaction, and human-in-the-loop control.
上肢假肢由于功能低、重量大而导致高废弃率。这两个因素是耦合的，因为更高的功能需要额外的电机、电池和其他电子设备，这使得设备更重。机器人模拟器已被用于下肢研究，以解耦设备重量和高功能，从而探索以人为中心的设计和带有外部电机的控制器。在这项研究中，我们设计了一种用于桡骨（肘下）假肢的假肢模拟器，以确定用户的最佳设计和控制。该设备的重量仅为生理臂的一半，具有两个主动腕运动和主动动力抓取功能。本研究介绍了假肢臂的详细设计和系统性能。我们设想这个模拟器可以用作测试平台，以确定桡骨假肢、人机交互和人机闭环控制的期望规格。
