Artificial Upper Limb Development, Simulation And Control
Author(s)
F. Casolo, M. Camposaragna & M. Molaschi
Abstract
Artificial upper limb development, simulation
and control
F. Casolo, M. Camposaragna & M. Molaschi
Politecnico di Milano, Italy.
Abstract
The artificial upper limbs are widespread in the amputees community and have
two distinct aims: to restore the aesthetic or the mechanical function of the limb.
Functional prostheses can be passive - with friction joints - or active. The last
ones can be classified as "body-powered" or "externally-powered". The
"externally powered are currently supplied by electrical actuators and driven by
EMG signals: if the active joints are more than one they are driven sequentially
and the system includes a selector. Over a certain number of active axes this
approach is stressing and produces very unnatural movements. This is one of the
reasons why, at present, shoulder joints are only passive. An innovative active
shoulder with two d.0.f. based on a differential gear is presented. It is a
component of our total artificial limb (4 or 5 d.0.f.) for which a new approach to
Keywords
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