NDLI: Development of prosthetic arm with pneumatic prosthetic hand and tendon-driven wrist

Content Provider	IEEE Xplore Digital Library
Author	Takeda, H. Tsujiuchi, N. Koizumi, T. Kan, H. Hirano, M. Nakamura, Y.
Copyright Year	2009
Description	Author affiliation: Department of Mechanical Engineering, SQUSE Inc. Shokushi-cho, Nishinokyo, Nakagyo-ku, Kyoto 604-8381 Japan (Hirano, M.; Nakamura, Y.) \|\| Department of Mechanical Engineering, Doshisha University, Kyotanabe, Kyoto 610-0321 Japan (Takeda, H.; Tsujiuchi, N.; Koizumi, T.; Kan, H.)
Abstract	Recently, various prosthetic arms have been developed, but few are both attractive and functional. Considering human coexistence, prosthetic arms must be both safe and flexible. In this research, we developed a novel prosthetic arm with a five-fingered prosthetic hand using our original pneumatic actuators and a slender tendon-driven wrist using a wire drive and two small motors. Because the prosthetic hand’s driving source is comprised of small pneumatic actuators, the prosthetic hand is safe when it makes contact with people; it can also operate flexibly. In addition, the arm has a tendon-driven wrist to expand its motion space and to perform many operations. First, we explain the pneumatic hand’s drive mechanism and its tendon-driven wrist. Next, we identify the characteristics of the hand and the wrist and construct a control system for this arm and verify its control performance.
Starting Page	5048
Ending Page	5051
File Size	668249
Page Count	4
File Format	PDF
ISBN	9781424432967
ISSN	1557170X
DOI	10.1109/IEMBS.2009.5333668
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-09-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Prosthetic hand Wrist Pneumatic actuators Humans Motion control Rubber Fingers Arm Wire Control systems
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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