Towards a Myoelectric Prosthetic Wrist with Rigid and Compliant Behaviour

Abstract

The simple kinematics of commercial prosthetic wrists limits the individuals in performing a wide range of tasks and restore natural motor functions. We propose a functional prosthesis that improves grasping capabilities through the addition of a simple yet useful 3 DoF myoelectric wrist joint with compliant and rigid properties. Its locking capability enables the adjustment of hand configuration in pre-grasping phases and separates the hand motion from the wrist motion. The proposed wrist, combined with a prosthetic hand, was tested with 8 able-bodied subjects and 1 subject with limb loss. It was compared to a common commercial rotational wrist and to subjects’ natural wrist. Results evidence the feasibility of the prototype, improved performance capabilities, and the subjects’ first impression about the proposed system. Finally, a prosthesis user tested and compared systems during Activities of Daily Living (ADL).

*This research has received funding from the European Union’s Horizon 2020 Research, ERC programme under the Grant Agreement No.810346 (Natural Bionics). The content of this publication is the sole responsibility of the authors. The European Commission or its services cannot be held responsible for any use that may be made of the information it contains.