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Effect of variable transmission on body-powered prosthetic grasping
IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
|September 30, 2022
Summary
Variable transmissions in body-powered upper-limb prostheses improve object manipulation and reduce user effort. However, users may apply excessive grasp forces, indicating a need for further study in assisted grasping technologies.
Area of Science:
- Biomedical Engineering
- Rehabilitation Engineering
- Human-Machine Interaction
Background:
- Body-powered upper-limb prostheses are widely used due to their passive functionality.
- Current prostheses utilize a constant transmission ratio between user input and grasp output.
- Continuously variable transmissions (CVTs) have shown promise in robotic hands for enhanced motion and force control.
Purpose of the Study:
- To evaluate the feasibility of integrating variable transmissions into body-powered prosthetic devices.
- To assess the impact of variable transmissions on user performance in grasping and lifting tasks.
Main Methods:
- Development of a custom prosthesis emulator with a haptics test bed.
- Measurement of user performance across various transmission ratio conditions and with different test objects.
- Analysis of grasp forces and shoulder motion during task execution.
Main Results:
- Variable transmissions enabled successful manipulation of a broader range of objects compared to constant transmission systems.
- Users exhibited reduced shoulder motion when utilizing variable transmissions.
- A tendency for users to apply higher grasp forces than necessary was observed with variable transmissions.
Conclusions:
- Variable transmissions offer significant benefits for object manipulation and user efficiency in body-powered prostheses.
- Potential drawbacks, such as excessive grasp force application, require further investigation.
- The findings support continued research into variable transmission systems for assisted grasping applications.
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