Exploring the Design of the DeCyborg: A Mechanized Version of ENABLE's Cyborg Beast Powered by Artificial Muscles

Prosthetic devices are essential for restoring function and improving the quality of life for individuals with limb differences. However, pediatric prosthetics face challenges such as high costs, limited functionality, and poor adaptability, contributing to high rejection rates. This study explores the integration of stacked dielectric elastomer actuators (SDEAs) into the Cyborg Beast, a 3D-printed body-powered prosthetic hand designed for children. This exploration of the Cyborg Beast aims to mechanize it and turn it into a powered prosthetic that we refer to as DeCyborg. SDEAs, known for their high force output, lightweight structure, and mechanical compliance, are introduced to enhance traditional actuation systems and act as an artificial muscle. Through this integration, we aim to improve the functionality of the hand, focusing on grip strength, angular motion, and actuation efficiency. A modular testing platform was created to evaluate the impact of SDEAs on these parameters, with results indicating a maximum bending angle of 74° and angular velocities comparable to natural hand movements. This exploratory study provides valuable data that will guide future design decisions, including adjustments to printing quality, style, the potential inclusion of bushings and bearings to reduce friction, and optimized performance through the increase of output force at the fingertip using a cam structure. The findings underscore the potential of SDEAs to address limitations in pediatric prosthetics, offering a pathway to more functional, accessible, and user-friendly solutions.