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HyPro: A Multi-DoF Hybrid-Powered Transradial Robotic Prosthesis
Joint Authors
Gopura, R. A. R. C.
Semasinghe, C. L.
Ranaweera, R. K. P. S.
Prasanna, J. L. B.
Kandamby, H. M.
Madusanka, D. G. K.
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-03-01
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
This paper proposes a multi-DoF hybrid-powered transradial robotic prosthesis, named HyPro.
The HyPro consists of two prosthetic units: hand and wrist that can achieve five grasping patterns such as power grasp, tip grasp, lateral grasp, hook grasp, and index point.
It is an underactuated device with 15 degrees of freedom.
A hybrid powering concept is proposed and implemented on hand unit of HyPro where the key focus is on restoration of grasp functions of biological hand.
A novel underactuated mechanism is introduced to achieve the required hand preshaping for a given grasping pattern using electric power in the pregrasp stage and body power is used in grasp stage to execute the final grasping action with the selected fingers.
Unlike existing hybrid prostheses where each of the joints is separately controlled by either electric or body power, the proposed prosthesis is capable of delivering grasping power in combination.
The wrist unit of HyPro is designed and developed to achieve flexion-extension and supination-pronation using electric power.
Experiments were carried out to evaluate the functionality and performance of the proposed hybrid-powered robotic prosthesis.
The results verified the potential of HyPro to perform intended grasping patterns effectively and efficiently.
American Psychological Association (APA)
Semasinghe, C. L.& Ranaweera, R. K. P. S.& Prasanna, J. L. B.& Kandamby, H. M.& Madusanka, D. G. K.& Gopura, R. A. R. C.. 2018. HyPro: A Multi-DoF Hybrid-Powered Transradial Robotic Prosthesis. Journal of Robotics،Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1197882
Modern Language Association (MLA)
Semasinghe, C. L.…[et al.]. HyPro: A Multi-DoF Hybrid-Powered Transradial Robotic Prosthesis. Journal of Robotics No. 2018 (2018), pp.1-15.
https://search.emarefa.net/detail/BIM-1197882
American Medical Association (AMA)
Semasinghe, C. L.& Ranaweera, R. K. P. S.& Prasanna, J. L. B.& Kandamby, H. M.& Madusanka, D. G. K.& Gopura, R. A. R. C.. HyPro: A Multi-DoF Hybrid-Powered Transradial Robotic Prosthesis. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1197882
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197882