A multi-DoF anthropomorphic transradial prosthetic arm

D. S.V. Bandara, R. A.R.C. Gopura, K. T.M.U. Hemapala, Kazuo Kiguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

An anthropomorphic transradial prosthetic arm is proposed in this paper. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The prosthetic arm consists of an under-actuated hand as the terminal device. The hand mechanism is capable of providing the grasping adaptation. With the intention of verifying the effectiveness of the mechanisms in motion generation, motion simulation and kinematic analysis are carried out.

Original languageEnglish
Title of host publication"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
EditorsRaffaella Carloni, Lorenzo Masia, Nicolas Garcia-Aracil, Rui C. V. Loureiro, Roque Saltaren, Herman Van der Kooij, Bram Vanderborght, Loredana Zollo, Sunil Agrawal, Maura Casadio, Adriano A. G. Siqueira, Jose Zariffa, Matteo Bianchi, Domenico Formica, Sasha Blue Godfrey, Leonardo Mattos, Antonio Padilha Lanari Bo, Kevin Cleary, Matteo Fumagalli, Islam S.M. Khalil, Victor Munoz, Hyung-Soon Park, Nikolaos Tsagarakis, Olivier Lambercy, Valentina Squeri, Jose Maria Sabater-Navarro, Marko Ackermann, Arash Ajoudani, Panagiotis Artemiadis, Ashish Deshpande, Luis Eduardo Rodriguez Cheu, Arno H.A. Stienen, Nicola Vitiello
PublisherIEEE Computer Society
Pages1039-1044
Number of pages6
ISBN (Electronic)9781479931262
Publication statusPublished - Sep 30 2014
Event5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil
Duration: Aug 12 2014Aug 15 2014

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Other

Other5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
CountryBrazil
CitySao Paulo
Period8/12/148/15/14

Fingerprint

Prosthetics
Manipulators
Kinematics

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Cite this

Bandara, D. S. V., Gopura, R. A. R. C., Hemapala, K. T. M. U., & Kiguchi, K. (2014). A multi-DoF anthropomorphic transradial prosthetic arm. In R. Carloni, L. Masia, N. Garcia-Aracil, R. C. V. Loureiro, R. Saltaren, H. Van der Kooij, B. Vanderborght, L. Zollo, S. Agrawal, M. Casadio, A. A. G. Siqueira, J. Zariffa, M. Bianchi, D. Formica, S. B. Godfrey, L. Mattos, A. P. Lanari Bo, K. Cleary, M. Fumagalli, I. S. M. Khalil, V. Munoz, H-S. Park, N. Tsagarakis, O. Lambercy, V. Squeri, J. M. Sabater-Navarro, M. Ackermann, A. Ajoudani, P. Artemiadis, A. Deshpande, L. E. Rodriguez Cheu, A. H. A. Stienen, ... N. Vitiello (Eds.), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 1039-1044). [6913917] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society.

A multi-DoF anthropomorphic transradial prosthetic arm. / Bandara, D. S.V.; Gopura, R. A.R.C.; Hemapala, K. T.M.U.; Kiguchi, Kazuo.

"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. ed. / Raffaella Carloni; Lorenzo Masia; Nicolas Garcia-Aracil; Rui C. V. Loureiro; Roque Saltaren; Herman Van der Kooij; Bram Vanderborght; Loredana Zollo; Sunil Agrawal; Maura Casadio; Adriano A. G. Siqueira; Jose Zariffa; Matteo Bianchi; Domenico Formica; Sasha Blue Godfrey; Leonardo Mattos; Antonio Padilha Lanari Bo; Kevin Cleary; Matteo Fumagalli; Islam S.M. Khalil; Victor Munoz; Hyung-Soon Park; Nikolaos Tsagarakis; Olivier Lambercy; Valentina Squeri; Jose Maria Sabater-Navarro; Marko Ackermann; Arash Ajoudani; Panagiotis Artemiadis; Ashish Deshpande; Luis Eduardo Rodriguez Cheu; Arno H.A. Stienen; Nicola Vitiello. IEEE Computer Society, 2014. p. 1039-1044 6913917 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bandara, DSV, Gopura, RARC, Hemapala, KTMU & Kiguchi, K 2014, A multi-DoF anthropomorphic transradial prosthetic arm. in R Carloni, L Masia, N Garcia-Aracil, RCV Loureiro, R Saltaren, H Van der Kooij, B Vanderborght, L Zollo, S Agrawal, M Casadio, AAG Siqueira, J Zariffa, M Bianchi, D Formica, SB Godfrey, L Mattos, AP Lanari Bo, K Cleary, M Fumagalli, ISM Khalil, V Munoz, H-S Park, N Tsagarakis, O Lambercy, V Squeri, JM Sabater-Navarro, M Ackermann, A Ajoudani, P Artemiadis, A Deshpande, LE Rodriguez Cheu, AHA Stienen & N Vitiello (eds), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014., 6913917, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE Computer Society, pp. 1039-1044, 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 8/12/14.
Bandara DSV, Gopura RARC, Hemapala KTMU, Kiguchi K. A multi-DoF anthropomorphic transradial prosthetic arm. In Carloni R, Masia L, Garcia-Aracil N, Loureiro RCV, Saltaren R, Van der Kooij H, Vanderborght B, Zollo L, Agrawal S, Casadio M, Siqueira AAG, Zariffa J, Bianchi M, Formica D, Godfrey SB, Mattos L, Lanari Bo AP, Cleary K, Fumagalli M, Khalil ISM, Munoz V, Park H-S, Tsagarakis N, Lambercy O, Squeri V, Sabater-Navarro JM, Ackermann M, Ajoudani A, Artemiadis P, Deshpande A, Rodriguez Cheu LE, Stienen AHA, Vitiello N, editors, "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society. 2014. p. 1039-1044. 6913917. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).
Bandara, D. S.V. ; Gopura, R. A.R.C. ; Hemapala, K. T.M.U. ; Kiguchi, Kazuo. / A multi-DoF anthropomorphic transradial prosthetic arm. "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. editor / Raffaella Carloni ; Lorenzo Masia ; Nicolas Garcia-Aracil ; Rui C. V. Loureiro ; Roque Saltaren ; Herman Van der Kooij ; Bram Vanderborght ; Loredana Zollo ; Sunil Agrawal ; Maura Casadio ; Adriano A. G. Siqueira ; Jose Zariffa ; Matteo Bianchi ; Domenico Formica ; Sasha Blue Godfrey ; Leonardo Mattos ; Antonio Padilha Lanari Bo ; Kevin Cleary ; Matteo Fumagalli ; Islam S.M. Khalil ; Victor Munoz ; Hyung-Soon Park ; Nikolaos Tsagarakis ; Olivier Lambercy ; Valentina Squeri ; Jose Maria Sabater-Navarro ; Marko Ackermann ; Arash Ajoudani ; Panagiotis Artemiadis ; Ashish Deshpande ; Luis Eduardo Rodriguez Cheu ; Arno H.A. Stienen ; Nicola Vitiello. IEEE Computer Society, 2014. pp. 1039-1044 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).
@inproceedings{30e8cd125356485cb02b89c26e31b385,
title = "A multi-DoF anthropomorphic transradial prosthetic arm",
abstract = "An anthropomorphic transradial prosthetic arm is proposed in this paper. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The prosthetic arm consists of an under-actuated hand as the terminal device. The hand mechanism is capable of providing the grasping adaptation. With the intention of verifying the effectiveness of the mechanisms in motion generation, motion simulation and kinematic analysis are carried out.",
author = "Bandara, {D. S.V.} and Gopura, {R. A.R.C.} and Hemapala, {K. T.M.U.} and Kazuo Kiguchi",
year = "2014",
month = "9",
day = "30",
language = "English",
series = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",
publisher = "IEEE Computer Society",
pages = "1039--1044",
editor = "Raffaella Carloni and Lorenzo Masia and Nicolas Garcia-Aracil and Loureiro, {Rui C. V.} and Roque Saltaren and {Van der Kooij}, Herman and Bram Vanderborght and Loredana Zollo and Sunil Agrawal and Maura Casadio and Siqueira, {Adriano A. G.} and Jose Zariffa and Matteo Bianchi and Domenico Formica and Godfrey, {Sasha Blue} and Leonardo Mattos and {Lanari Bo}, {Antonio Padilha} and Kevin Cleary and Matteo Fumagalli and Khalil, {Islam S.M.} and Victor Munoz and Hyung-Soon Park and Nikolaos Tsagarakis and Olivier Lambercy and Valentina Squeri and Sabater-Navarro, {Jose Maria} and Marko Ackermann and Arash Ajoudani and Panagiotis Artemiadis and Ashish Deshpande and {Rodriguez Cheu}, {Luis Eduardo} and Stienen, {Arno H.A.} and Nicola Vitiello",
booktitle = "{"}2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014",
address = "United States",

}

TY - GEN

T1 - A multi-DoF anthropomorphic transradial prosthetic arm

AU - Bandara, D. S.V.

AU - Gopura, R. A.R.C.

AU - Hemapala, K. T.M.U.

AU - Kiguchi, Kazuo

PY - 2014/9/30

Y1 - 2014/9/30

N2 - An anthropomorphic transradial prosthetic arm is proposed in this paper. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The prosthetic arm consists of an under-actuated hand as the terminal device. The hand mechanism is capable of providing the grasping adaptation. With the intention of verifying the effectiveness of the mechanisms in motion generation, motion simulation and kinematic analysis are carried out.

AB - An anthropomorphic transradial prosthetic arm is proposed in this paper. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The prosthetic arm consists of an under-actuated hand as the terminal device. The hand mechanism is capable of providing the grasping adaptation. With the intention of verifying the effectiveness of the mechanisms in motion generation, motion simulation and kinematic analysis are carried out.

UR - http://www.scopus.com/inward/record.url?scp=84918590948&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84918590948&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84918590948

T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

SP - 1039

EP - 1044

BT - "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014

A2 - Carloni, Raffaella

A2 - Masia, Lorenzo

A2 - Garcia-Aracil, Nicolas

A2 - Loureiro, Rui C. V.

A2 - Saltaren, Roque

A2 - Van der Kooij, Herman

A2 - Vanderborght, Bram

A2 - Zollo, Loredana

A2 - Agrawal, Sunil

A2 - Casadio, Maura

A2 - Siqueira, Adriano A. G.

A2 - Zariffa, Jose

A2 - Bianchi, Matteo

A2 - Formica, Domenico

A2 - Godfrey, Sasha Blue

A2 - Mattos, Leonardo

A2 - Lanari Bo, Antonio Padilha

A2 - Cleary, Kevin

A2 - Fumagalli, Matteo

A2 - Khalil, Islam S.M.

A2 - Munoz, Victor

A2 - Park, Hyung-Soon

A2 - Tsagarakis, Nikolaos

A2 - Lambercy, Olivier

A2 - Squeri, Valentina

A2 - Sabater-Navarro, Jose Maria

A2 - Ackermann, Marko

A2 - Ajoudani, Arash

A2 - Artemiadis, Panagiotis

A2 - Deshpande, Ashish

A2 - Rodriguez Cheu, Luis Eduardo

A2 - Stienen, Arno H.A.

A2 - Vitiello, Nicola

PB - IEEE Computer Society

ER -