研究目的
To present the mechatronic design of an anthropomorphic transhumeral prosthetic arm—the Rehabilitation Institute of Chicago (RIC) arm—that balances the tradeoff between performance and complexity with the ultimate goal of improving clinical use.
研究成果
The RIC arm is a 5-DOF transhumeral prosthesis that weighs only 1518 g and has the same size profile as the arm of a 25th percentile female. Compared with commercially available arms, the RIC arm provides an added wrist flexion DOF within the same mass envelope. The novel actuator design allows higher joint speeds and torques to be achieved.
研究不足
The lack of force and tactile feedback may limit the ability of users to interact with the environment and to regulate the grasping force.
1：Experimental Design and Method Selection:
The design of the RIC arm, including the integration of custom external rotor motors, cycloid transmissions, nonbackdrivable clutches, and custom pattern recognition control.
2：Sample Selection and Data Sources:
An individual with a transhumeral amputation participated in a take-home field trial.
3：List of Experimental Equipment and Materials:
Custom exterior-rotor motors, cycloid transmissions, nonbackdrivable clutches, and custom pattern recognition control.
4：Experimental Procedures and Operational Workflow:
Mechanics and control performance of the RIC arm were evaluated within the laboratory, and clinical viability was preliminary evaluated during a take-home field trial.
5：Data Analysis Methods:
Performance characterization experiments were performed to assess speed range, linearity, dynamic response, pinch force, and operating autonomy on a single battery charge.
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