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TROB
2008

A Gas-Actuated Anthropomorphic Prosthesis for Transhumeral Amputees

10 years 2 months ago
A Gas-Actuated Anthropomorphic Prosthesis for Transhumeral Amputees
Abstract--This paper presents the design of a gas-actuated anthropomorphic arm prosthesis with 21 degrees of freedom and nine independent actuators. The prosthesis utilizes the monopropellant hydrogen peroxide as a gas generator to power nine pneumatic type actuators. Of the nine independent actuators, one provides directdrive actuation of the elbow, three provide direct-drive actuation for the wrist, and the remaining five actuate an underactuated 17 degree of freedom hand. This paper describes the design of the prosthesis, including the design of small-scale high-performance servovalves, which enable the implementation of the monopropellant concept in a transhumeral prosthesis. Experimental results are given characterizing both the servovalve performance and the force and/or motion control of various joints under closed-loop control.
Kevin Fite, Thomas J. Withrow, Xiangrong Shen, Kei
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2008
Where TROB
Authors Kevin Fite, Thomas J. Withrow, Xiangrong Shen, Keith W. Wait, Jason E. Mitchell, Michael Goldfarb
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