A Gas-Actuated Anthropomorphic Transhumeral Prosthesis

— This paper presents the design of an anthropomorphic 21 degree-of-freedom, 9 degree-of-actuation arm prosthesis for use by transhumeral amputees. The design leverages the power density of pneumatic actuation with the energy density of liquid propellants to obtain a self-powered dexterous prosthesis in which all of the requisite power, actuation, and sensing is packaged within the volumetric envelope of a normal human arm. Specifically, the arm utilizes a monopropellant as a gas generator to power nine pneumatictype actuators that drive an elbow, three wrist degrees-offreedom, and a 17 degree-of-freedom compliant hand. The design considerations discussed in this work include the design of compact, low-power servovalves; the choice of actuators based on energetic requirements of a normal arm; the design of compact elbow and wrist joints with integrated position and force sensing; and the components of the compliant hand design. The liquid-fueled prosthesis is expected to approach the...

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Kevin Fite, Thomas J. Withrow, Keith W. Wait, Michael Goldfarb
• Keywords: Degree-of-actuation Arm Prosthesis, Human Arm, ICRA 2007, Normal Human Arm, Robotics