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

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 per...

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Detalles Bibliográficos
Autores principales: Leal-Naranjo, José-Alfredo, Miguel, Christopher-René Torres-San, Ceccarelli, Marco, Rostro-Gonzalez, Horacio
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6140102/
https://www.ncbi.nlm.nih.gov/pubmed/30250502
http://dx.doi.org/10.1155/2018/4357602
Descripción
Sumario: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.