Smart ArM: a customizable and versatile robotic arm prosthesis platform for Cybathlon and research

Area of Science:

• Mechatronics and Robotics
• Biomedical Engineering
• Rehabilitation Technology

Background:

• Advancements in mechatronics have enabled sophisticated multi-joint prosthetic arms, but control scheme development is challenging due to limited command signals for impaired users.
• Current commercial prosthetics lack the versatility needed for research, forcing reliance on specialized lab setups or mock devices for testing novel control strategies.
• A need exists for adaptable, realistic test-beds to evaluate new prosthetic technologies with actual end-users.

Purpose of the Study:

• To introduce the Smart Arm platform, a human-like, wearable robotic arm designed as a versatile test-bed for prosthetic control research.
• To address the limitations of current commercial devices by offering a customizable and adaptable solution for developing and testing advanced prosthetic control schemes.
• To facilitate research by providing a platform compatible with industrial standards and enabling in-depth customization.

Main Methods:

• Developed the Smart Arm platform, a multi-articulated robotic arm wearable as a trans-humeral prosthesis.
• Incorporated a reprogrammable embedded system for flexible control scheme customization.
• Utilized readily available components and ensured compatibility with industrial prosthetic standards.

Main Results:

• The Smart Arm platform features motorized elbow and wrist joints and is compatible with commercial prosthetic hands.
• Its adaptable software and electronic architecture support diverse sensors and actuators for various research applications.
• Successfully demonstrated in experiments and the Cybathlon competition, where a pilot with forearm agenesis effectively controlled the prosthesis for daily living activities.

Conclusions:

• The Smart Arm platform offers a versatile and adaptable solution for prosthetic research and real-world applications.
• It serves as an effective test-bed for experimenting with prosthetic control laws and command signals in lifelike settings.
• Aims to bridge the gap in upper limb prosthetics by enabling realistic testing conditions to assess technological benefits for end-users.