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A Gas-Actuated Anthropomorphic Prosthesis for Transhumeral Amputees

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6 Author(s)
Fite, K.B. ; Dept. of Mech. & Aeronaut. Eng., Clarkson Univ., Potsdam, NY ; Withrow, T.J. ; Xiangrong Shen ; Wait, K.W.
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This paper presents the design of a gas-actuated anthropomorphic arm prosthesis with 21 degrees of freedom and nine independent actuators. The prosthesis utilizes the monopropellant hydrogen peroxide as a gas generator to power nine pneumatic type actuators. Of the nine independent actuators, one provides direct- drive actuation of the elbow, three provide direct-drive actuation for the wrist, and the remaining five actuate an underactuated 17 degree of freedom hand. This paper describes the design of the prosthesis, including the design of small-scale high-performance servovalves, which enable the implementation of the monopropellant concept in a transhumeral prosthesis. Experimental results are given characterizing both the servovalve performance and the force and/or motion control of various joints under closed-loop control.

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Robotics, IEEE Transactions on  (Volume:24 ,  Issue: 1 )