MECHANISMS AND MECHANICAL ESTIMATION OF A TOTAL ARM ELECTRICAL POWERED PROSTHESIS (TDU ys-86)

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  • 全腕式電動義手(TDU ys-86)のメカニズムと工学的評価

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Abstract

Many handicapped persons have had both arms amputated from the shoulder due to accidents or malignant tumors; these individuals need help in their daily life, especially for taking meals, and such needs can some-times be filled by a high-performance shoulder prosthesis. About 20 years ago electrical prostheses were developed for thalidomide victims in many countries; however, insufficient degree of freedom, problems in controlling, increase in weight in proportion to freedom degree improvement, and other problems gradually put them out of use. We therefore have developed over the past several years a new type of total-arm electrical prosthesis (right arm) with DC motors controlled by 3 single-chip microcomputers, and have developed technical support system for the arms using a CAD system. The arm consists of a space linkage shoulder mechanism capable of giving the arm 6 degrees of freedom, with a modular gripper including forward and side raising, rotation of upper arm and elbow bending, inside and outside direction forearm turning, and grippers opening and closing. A battery and control printed circuit board was made in order to keep the weight light. The arm is basically operated by chin switches. The main movement is divided into two kinds, i. e., manually controlled and combined movement by DDA (digital differential analyzer). With the cooperation of 3 disabled persons, we are currently undertaking training in wearing and operating the arm using a personal computer.

Journal

  • Biomechanisms

    Biomechanisms 10 (0), 227-237, 1990

    Society of Biomechanisms

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