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Hybrid Actuation Mechanism for an Ultra Low-Cost Transhumeral Prosthesis: Preliminary Study

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Converging Clinical and Engineering Research on Neurorehabilitation IV (ICNR 2020)

Part of the book series: Biosystems & Biorobotics ((BIOSYSROB,volume 28))

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Abstract

In this work, we present a novel hybrid approach to the actuation of an ultra low-cost upper limb prosthesis. An open-source mechanical design has been developed allowing the control of two degrees of freedom: opening-closing of the hand and flexion-extension of the elbow. The hand actuation mechanism has been designed in order to be easily convertible from electrically powered to body powered, thanks to the addition of a spring and a cable. In the study, we describe the mechanical design of both degrees of actuation and the hybrid solution, as well as the control schema and the preliminary tests for electromechanical characterization of the hand module.

T. Reboli and S. Meloni are equal contribution.

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Notes

  1. 1.

    Both mechanical and electronic CAD projects are available open source at: https://timeforpeacegenova.wordpress.com/materiale-open-source/.

References

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Author information

Authors and Affiliations

  1. Department of Mechanical, Energy, Management and Transportation Engineering (DIME), Polytechnic School University of Genoa, Genoa, Italy

    T. Reboli

  2. Department of Computer Science, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy

    S. Meloni, G. Ballardini, G. Carlini, M. Casadio & F. Sante

  3. Time for Peace-Genova Onlus, Genoa, Italy

    M. Serafica & G. Vigo

  4. Unit for Visually Impaired People (U-VIP), Istituto Italiano di Tecnologia, Genoa, Italy

    L. Schiatti

Authors
  1. T. Reboli
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  2. S. Meloni
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  3. G. Ballardini
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  4. G. Carlini
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  5. M. Casadio
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  6. F. Sante
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  7. M. Serafica
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  8. G. Vigo
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  9. L. Schiatti
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Corresponding author

Correspondence to L. Schiatti .

Editor information

Editors and Affiliations

  1. Neural Rehabilitation Group, Cajal Institute, Madrid, Spain

    Diego Torricelli

  2. Department of Biomedical Engineering, University of Houston, Houston, TX, USA

    Metin Akay

  3. Department of Biomedical Engineering, Shirley Ryan AbilityLab, Chicago, IL, USA

    Jose L. Pons

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Reboli, T. et al. (2022). Hybrid Actuation Mechanism for an Ultra Low-Cost Transhumeral Prosthesis: Preliminary Study. In: Torricelli, D., Akay, M., Pons, J.L. (eds) Converging Clinical and Engineering Research on Neurorehabilitation IV. ICNR 2020. Biosystems & Biorobotics, vol 28. Springer, Cham. https://doi.org/10.1007/978-3-030-70316-5_141

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  • DOI: https://doi.org/10.1007/978-3-030-70316-5_141

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-70315-8

  • Online ISBN: 978-3-030-70316-5

  • eBook Packages: EngineeringEngineering (R0)

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