期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2015
卷号：12
DOI：10.5772/60031
语种：English
出版社：SAGE Publications
摘要：Transhumeral and shoulder disarticulation amputees find it difficult to move their prostheses for goal-oriented movement using only their small residual limbs. Thus, spatial accessibility is especially important for shoulder prostheses. Moreover, because responding to external disturbances and absorbing impact using only the viscoelasticity and flexibility of the small residual limb is difficult, the intrinsic viscoelasticity of the shoulder prosthesis is indispensable for safety. In our previous work, we proposed a small pneumatic elastic actuator-driven parallel link mechanism for shoulder prostheses. In this paper, we propose two new devices, a sliding antagonistic mechanism and a soft backbone, to improve the spatial characteristics and disturbance responsiveness. We quantitatively evaluated a prosthetic arm with the two devices. The results showed that the two devices increased the arm’s workspace and disturbance responsiveness.
