Mechanical Design and Assessment of a Low-Cost 7-DOF Prosthetic Arm for Shoulder Disarticulation

Abstract

This work presents the design of a low-cost prosthetic device for shoulder disarticulation. A proper design of the mechanisms has been addressed to obtain a prototype that presents 7 degrees of freedom. Shoulder movement is achieved by means of a spherical parallel manipulator, elbow movement is performed by a six-bar mechanism, and the wrist movement is implemented by a spherical parallel manipulator. A set of dynamic simulations was performed in order to assess the functionality of the design. The prototype was built using 3D printing techniques and implementing low-cost actuators. An experimental evaluation was carried out to characterize this device. The result of this work is a prototype that weighs 1350 g that is able to perform movements related to activities of daily living.

Development of a Shoulder Disarticulation Prosthesis System Intuitively Controlled With the Trunk Surface Electromyogram

“…In this study, PCA was used as the method to determine the appropriate myoelectric measurement point from the obtained myoelectric data via multipoint measurement (Jolliffe, 2002), and MATLAB was used as the analysis software.…”

“…The powered shoulder disarticulation prosthesis introduces less physical burden on the user as compared to the body-powered shoulder disarticulation prosthesis, to assist the external force. Moreover, by mounting multiple actuators, it also allows the user to operate multiple degrees of freedom from the shoulder to the hand (José-Alfredo et al, 2018;Osmar et al, 2019). However, increasing the actuators and motion patterns requires many several control signals, and obtaining these signals method is difficult, because the position of obtaining the muscle potential is limited by the shoulder detachment condition of the user.…”

Modeling and Simulation Process via Incremental Methods of a Production-Aimed Upper Limb Prosthesis

“…The optimization of three critical aspects for the performance of the prosthesis is analyzed: the workspace, the prototype dexterity, and the actuators' torque responsible for movement. Continuity of the research is found in [8], where the design of a prosthetic device with 7 degrees of freedom (DOF) is distributed as follows: 3 DOF in the shoulder, 1 DOF at the elbow, and 3 DOF at the wrist. the low-cost prototype used 3D printing techniques to manufacture it.…”

Modeling, comparison and evaluation of one-DOF six-bar bioinspired jumping leg mechanisms

“…The eight-bar mechanism is also used for the single-actuator continuous hopping robot design by Bai et al 18 Compared with four-bar mechanism, six-bar or eightbar mechanism has more abundant configurations. 19,20 According to the design requirements, different basic configurations can evolve a large number of different mechanisms. However, the design of existing six-bar or eight-bar jumping mechanisms depends on experience.…”