title: Development of prosthetic arm with pneumatic prosthetic hand and tendon-driven wrist.
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.
authors: Department of Mechanical Engineering, Doshisha University, Kyotanabe, Kyoto, Japan.
authors: Hiroyuki
authors: H
authors: Takeda
authors: Nobutaka
authors: N
authors: Tsujiuchi
authors: Takayuki
authors: T
authors: Koizumi
authors: Hiroto
authors: H
authors: Kan
authors: Masanori
authors: M
authors: Hirano
authors: Yoichiro
authors: Y
authors: Nakamura
mesh_terms: D000672:Amputation Stumps / Q000503:physiopathology; D001132:Arm / Q000503:physiopathology*; D001186:Artificial Limbs; D001696:Biomechanical Phenomena; D006801:Humans; D014953:Wrist / Q000503:physiopathology*