Principal orientations of the wrist during adls

Towards the design of a synergetic wrist prosthesis

Conference paper (2018)

Authors

T.A. Lenssen Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
L. Cappello Scuola Superiore Sant’Anna, Pontedera
D.H. Plettenburg Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
C. Cipriani Scuola Superiore Sant’Anna, Pontedera
Marco Controzzi Scuola Superiore Sant’Anna, Pontedera
Research Group
Medical Instruments & Bio-Inspired Technology (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2018

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Medical Instruments & Bio-Inspired Technology

Abstract

To design an underactuated wrist prosthesis, a preliminary study has been conducted to identify the relationship between the Degrees of Freedom (DoFs) of the wrist during the execution of tasks of daily living. After the identification of the principal orientations of the wrist describing the tasks, polynomial functions were used to define a synergetic relationship between the DoFs. The latter can be implemented in a prosthetic wrist featuring one actuator to obtain motion along three DoFs, with the purpose of reducing compensatory movements.

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