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Design of High Torque Elbow Joint for Above Elbow Prosthesis
Abstract:Above Elbow Prosthesis is one of the most commonly amputated or missing limbs. The research is done for modelling techniques of upper limb prosthesis and design of high torque, light weight and compact in size elbow actuator. The purposed actuator consists of a DC motor, planetary gear set and a harmonic drive. The calculations show that the actuator is good enough to be used in real life powered prosthetic upper limb or rehabilitation exoskeleton.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1061635Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2384
 C. Toledo, L. Leija, R. Mu├▒oz, A. Vera and A. Ram├¡rez, "Upper Limb Prostheses for Amputations Above Elbow: A Review ", PAHCE. Conference, Workshops, and Exhibits. Cooperation Linkages-Pan American Health Care Exchanges 2009. J. Clerk Maxwell, A Treatise on Electricity and Magnetism, 3rd ed., vol. 2. Oxford: Clarendon, 1892, pp.68-73.
 Federico Casolo, Simone Cinquemani and Matteo Cocetta, "Functional Design Of A Transmission For A Myoelectric Elbow Prosthesis", Proceedings of the World Congress on Engineering 2008 Vol III WCE 2008,London,U, July 2 - 4, 2008.
 J.F. Veneman, R. Ekkelenkamp, R. Kruidhof, F.C.T. van der Helm, H. van der KooijR. " Design of a Series Elastic-and Bowdencable-based actuation system for use as torque- actuator in exoskeleton-type training "Proceedings of the 2005 IEEE, 9th International Conference on Rehabilitation Robotics, Chicago, IL, USA, June 28-July 1,2005.
 A.Z. Escudero, Ja. ├ülvarez, L. Leija," Inverse Kinematics for a Parallel Myoelectric Elbow" Proceedings-23rd Annual Conference - IEEE/EMBS, Istanbul, TURKEY, Oct.25-28,2001.
 G.Thomann Sols, Solids, Structures Laboratory and V. Artigues,Tech.Innovation Evry, France, "Mechanical Design, Control Choices and first Return of Use of a Prosthetic Arm" 12th IFToMM World Congress, Besan├ºon (France), June 18-21, 2007M. Young, The Technical Writer's Handbook. Mill Valley, CA: University Science, 1989.
 V.M.L Vossen," Evaluating the Boston Elbow, Weight distribution and motor friction experiment" Report of a practical training at the Liberty Mutual Research Center, Hopkinton, Massachusetts, USA, and Department of Biomedical Engineering, Eindhoven University of Technology the Netherlands.
 Donald R. Peterson, Ronald S. Adrezin, BIODYNAMICS: A LAGRANGIAN APPROACH Standard Handbook of Biomedical Engineering and Design.
 Christopher W. Kennedy and Jaydev P.Desai," Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm" , Program for Robotics, Intelligent Sensing and Mechatronics (PRISM) Laboratory, Drexel University, Philadelpia, PA 19104, USA.
 Cup type component sets and housed units, Harmonic drive gear, Precision Gearing and Motion Control.
[Online] Available: http://www.harmonicdrive.de/cms/upload/pdf/GK2007/Katalog_Catalog ue_Catalogo_0708.pdf
 DC motor, Model: RF 370CA.
[Online] Available: http://www.kinmoremotor.com/product_disp.php?productid=23&weblan =e
 NiMH Battery Pack: 12 V 2200mAh (10xAA) for Walking Robot.
 Multi-Current universal smart charger.
[Online] Available: http://www.batteryspace.com/multi-currentuniversalsmartchargerfor96v -18vnimhbatterypackstamiyaplugullisted.aspx