Abstract
This paper presents an upper limb prosthesis called IRR, which consists of a 7 DOF fully-actuated arm and a 15-DOF underactuated hand. The prosthesis is aimed to grasp a wide range of objects and perfectly reproduce the movement of the human upper limb. The main development is focused on the requirements of small size, light weight, high functionality and good cosmetic appearance. First, mechanisms of the prosthesis have been designed. Then, highly reliable embedded electronics, effective control architecture are devised to manage complexity of the system. Finally, multi-mode grasping and drinking water experiments have been done to test the ability of the prosthesis to reproduce human activities of daily lives.
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© 2014 Springer International Publishing Switzerland
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He, L., Xiong, C., Zhang, K. (2014). Mechatronic Design of an Upper Limb Prosthesis with a Hand. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8917. Springer, Cham. https://doi.org/10.1007/978-3-319-13966-1_6
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DOI: https://doi.org/10.1007/978-3-319-13966-1_6
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13965-4
Online ISBN: 978-3-319-13966-1
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