A multi-DoF anthropomorphic transradial prosthetic arm

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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

13 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
編集者Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
出版社IEEE Computer Society
ページ1039-1044
ページ数6
ISBN(電子版)9781479931262
DOI
出版ステータス出版済み - 9 30 2014
イベント5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, ブラジル
継続期間: 8 12 20148 15 2014

出版物シリーズ

名前Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN(印刷版)2155-1774

その他

その他5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
国/地域ブラジル
CitySao Paulo
Period8/12/148/15/14

All Science Journal Classification (ASJC) codes

  • 人工知能
  • 生体医工学
  • 機械工学

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