A multi-DoF anthropomorphic transradial prosthetic arm

D. S.V. Bandara; R. A.R.C. Gopura; K. T.M.U. Hemapala; Kazuo Kiguchi

doi:10.1109/biorob.2014.6913917

A multi-DoF anthropomorphic transradial prosthetic arm

D. S.V. Bandara, R. A.R.C. Gopura, K. T.M.U. Hemapala, Kazuo Kiguchi

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

17 Citations (Scopus)

Abstract

An anthropomorphic transradial prosthetic arm is proposed in this paper. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The prosthetic arm consists of an under-actuated hand as the terminal device. The hand mechanism is capable of providing the grasping adaptation. With the intention of verifying the effectiveness of the mechanisms in motion generation, motion simulation and kinematic analysis are carried out.

Original language	English
Title of host publication	"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Editors	Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
Publisher	IEEE Computer Society
Pages	1039-1044
Number of pages	6
ISBN (Electronic)	9781479931262
DOIs	https://doi.org/10.1109/biorob.2014.6913917
Publication status	Published - Sept 30 2014
Event	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil Duration: Aug 12 2014 → Aug 15 2014

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Other

Other	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Country/Territory	Brazil
City	Sao Paulo
Period	8/12/14 → 8/15/14

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

Access to Document

10.1109/biorob.2014.6913917

Cite this

Bandara, D. S. V., Gopura, R. A. R. C., Hemapala, K. T. M. U., & Kiguchi, K. (2014). A multi-DoF anthropomorphic transradial prosthetic arm. In R. Carloni, L. Masia, J. M. Sabater-Navarro, M. Ackermann, S. Agrawal, A. Ajoudani, P. Artemiadis, M. Bianchi, A. P. Lanari Bo, M. Casadio, K. Cleary, A. Deshpande, D. Formica, M. Fumagalli, N. Garcia-Aracil, S. B. Godfrey, I. S. M. Khalil, O. Lambercy, R. C. V. Loureiro, L. Mattos, V. Munoz, H.-S. Park, L. E. Rodriguez Cheu, R. Saltaren, A. A. G. Siqueira, V. Squeri, A. H. A. Stienen, N. Tsagarakis, H. Van der Kooij, B. Vanderborght, N. Vitiello, J. Zariffa, ... L. Zollo (Eds.), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 1039-1044). Article 6913917 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/biorob.2014.6913917

A multi-DoF anthropomorphic transradial prosthetic arm. / Bandara, D. S.V.; Gopura, R. A.R.C.; Hemapala, K. T.M.U. et al.
"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. ed. / Raffaella Carloni; Lorenzo Masia; Jose Maria Sabater-Navarro; Marko Ackermann; Sunil Agrawal; Arash Ajoudani; Panagiotis Artemiadis; Matteo Bianchi; Antonio Padilha Lanari Bo; Maura Casadio; Kevin Cleary; Ashish Deshpande; Domenico Formica; Matteo Fumagalli; Nicolas Garcia-Aracil; Sasha Blue Godfrey; Islam S.M. Khalil; Olivier Lambercy; Rui C. V. Loureiro; Leonardo Mattos; Victor Munoz; Hyung-Soon Park; Luis Eduardo Rodriguez Cheu; Roque Saltaren; Adriano A. G. Siqueira; Valentina Squeri; Arno H.A. Stienen; Nikolaos Tsagarakis; Herman Van der Kooij; Bram Vanderborght; Nicola Vitiello; Jose Zariffa; Loredana Zollo. IEEE Computer Society, 2014. p. 1039-1044 6913917 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bandara, DSV, Gopura, RARC, Hemapala, KTMU & Kiguchi, K 2014, A multi-DoF anthropomorphic transradial prosthetic arm. in R Carloni, L Masia, JM Sabater-Navarro, M Ackermann, S Agrawal, A Ajoudani, P Artemiadis, M Bianchi, AP Lanari Bo, M Casadio, K Cleary, A Deshpande, D Formica, M Fumagalli, N Garcia-Aracil, SB Godfrey, ISM Khalil, O Lambercy, RCV Loureiro, L Mattos, V Munoz, H-S Park, LE Rodriguez Cheu, R Saltaren, AAG Siqueira, V Squeri, AHA Stienen, N Tsagarakis, H Van der Kooij, B Vanderborght, N Vitiello, J Zariffa & L Zollo (eds), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014., 6913917, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE Computer Society, pp. 1039-1044, 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 8/12/14. https://doi.org/10.1109/biorob.2014.6913917

Bandara DSV, Gopura RARC, Hemapala KTMU, Kiguchi K. A multi-DoF anthropomorphic transradial prosthetic arm. In Carloni R, Masia L, Sabater-Navarro JM, Ackermann M, Agrawal S, Ajoudani A, Artemiadis P, Bianchi M, Lanari Bo AP, Casadio M, Cleary K, Deshpande A, Formica D, Fumagalli M, Garcia-Aracil N, Godfrey SB, Khalil ISM, Lambercy O, Loureiro RCV, Mattos L, Munoz V, Park HS, Rodriguez Cheu LE, Saltaren R, Siqueira AAG, Squeri V, Stienen AHA, Tsagarakis N, Van der Kooij H, Vanderborght B, Vitiello N, Zariffa J, Zollo L, editors, "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society. 2014. p. 1039-1044. 6913917. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/biorob.2014.6913917

Bandara, D. S.V. ; Gopura, R. A.R.C. ; Hemapala, K. T.M.U. et al. / A multi-DoF anthropomorphic transradial prosthetic arm. "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. editor / Raffaella Carloni ; Lorenzo Masia ; Jose Maria Sabater-Navarro ; Marko Ackermann ; Sunil Agrawal ; Arash Ajoudani ; Panagiotis Artemiadis ; Matteo Bianchi ; Antonio Padilha Lanari Bo ; Maura Casadio ; Kevin Cleary ; Ashish Deshpande ; Domenico Formica ; Matteo Fumagalli ; Nicolas Garcia-Aracil ; Sasha Blue Godfrey ; Islam S.M. Khalil ; Olivier Lambercy ; Rui C. V. Loureiro ; Leonardo Mattos ; Victor Munoz ; Hyung-Soon Park ; Luis Eduardo Rodriguez Cheu ; Roque Saltaren ; Adriano A. G. Siqueira ; Valentina Squeri ; Arno H.A. Stienen ; Nikolaos Tsagarakis ; Herman Van der Kooij ; Bram Vanderborght ; Nicola Vitiello ; Jose Zariffa ; Loredana Zollo. IEEE Computer Society, 2014. pp. 1039-1044 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

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title = "A multi-DoF anthropomorphic transradial prosthetic arm",

abstract = "An anthropomorphic transradial prosthetic arm is proposed in this paper. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The prosthetic arm consists of an under-actuated hand as the terminal device. The hand mechanism is capable of providing the grasping adaptation. With the intention of verifying the effectiveness of the mechanisms in motion generation, motion simulation and kinematic analysis are carried out.",

author = "Bandara, {D. S.V.} and Gopura, {R. A.R.C.} and Hemapala, {K. T.M.U.} and Kazuo Kiguchi",

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ER -

A multi-DoF anthropomorphic transradial prosthetic arm

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