Optimization-Based Design of a Small Pneumatic-Actuator-Driven Parallel Mechanism for a Shoulder Prosthetic Arm with Statics and Spatial Accessibility Evaluation

Human arms undertake most tasks in the activities of daily living (ADLs). When designing shoulder prostheses for high-level upper-limb amputees, we should consider not only how to realize high degrees of freedom under weight and shape constraints but also the user's individual task space in dai...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 10; no. 7
Main Authors Sekine, Masashi, Sugimori, Kento, Gonzalez, Jose, Yu, Wenwei
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 08.07.2013
Sage Publications Ltd
SAGE Publishing
Subjects
Accessibility
Activities of daily living
Actuators
Amputation
Design optimization
Evaluation
Indexing
Investigations
Prostheses
Task space
Statics
Parallel Mechanism
Shoulder Prosthesis
Spatial Accessibility
Activities of Daily Living (ADLs)
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Summary:Human arms undertake most tasks in the activities of daily living (ADLs). When designing shoulder prostheses for high-level upper-limb amputees, we should consider not only how to realize high degrees of freedom under weight and shape constraints but also the user's individual task space in daily life. An appropriate mechanical structure that can make full use of state-of-the-art actuators and a scheme to optimize the structure's configuration to match users' spatial access and manipulability requirements are essential. In our previous research, a small pneumatic-actuator-driven parallel mechanism was studied as a shoulder prosthetic arm. In this paper, a systematic procedure is proposed to design the mechanism for a shoulder prosthesis considering force and spatial accessibility. This procedure includes ADL measurements to obtain the task spaces for individual subjects, indexes to evaluate the force and spatial accessibility and an optimization process based on kinematic and statics models. With this approach, the parallel mechanism was optimized for one important ADL task group, considering the trade-off between its required force and working space. Moreover, it was confirmed that the proposed design procedure could find solutions for various spatial specifications. That is, the approach could be used for individualized shoulder prosthesis design.
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ISSN:1729-8806
1729-8814
DOI:10.5772/56638