A passive wrist with switchable stiffness for a body-powered hydraulically actuated hand prosthesis

Federico Montagnani, Gerwin Smit, Marco Controzzi, C. Cipriani, Dick Plettenburg

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

3 Citations (Scopus)

Abstract

State of art upper limb prostheses lack several degrees of freedom (DoF) and force the individuals to compensate for them by changing the motions of their arms and body. Such movements often yield to articulation injuries, nonetheless these could be prevented by adding DoFs, for instance, an articulated passive wrist. Available stiff or compliant wrists with passive flexion/extension and/or
radial/ulnar deviation are sub-optimal solutions. Indeed, stiff wrists induce the individuals wearing them to perform exaggerated compensatory movements during the reaching phase while compliant wrists proved to be unpractical while
manipulating heavy objects. Here we present a wrist capable of combining the benefits of stiff and compliant wrists. It is provided with two switchable levels of passive compliance that are automatically selected. The prototype was integrated in a body-powered hydraulic hand prosthesis and actuated using the same hydraulic circuit of the hand. Detailed analysis of the parameters that affect the compliance, the critical load and the performance of the prosthesis are presented.
Original languageEnglish
Title of host publicationProceedings of the 2017 International Conference on Rehabilitation Robotics (ICORR)
EditorsF. Amirabdollahian, E. Burdet, L. Masio
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages1197-1202
ISBN (Print)978-1-5386-2296-4
DOIs
Publication statusPublished - 2017
Event2017 IEEE 15th International Conference on Rehabilitation Robotics (ICORR 2017) - London, United Kingdom
Duration: 17 Jul 201720 Jul 2017
Conference number: 15

Conference

Conference2017 IEEE 15th International Conference on Rehabilitation Robotics (ICORR 2017)
Abbreviated titleICORR 2017
CountryUnited Kingdom
CityLondon
Period17/07/1720/07/17

Keywords

  • body-powered hydraulically actuated hand prosthesis
  • passive extension
  • passive flexion

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