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A body powered prehensor with variable mechanical advantage

D D Frey1, L E Carlson

  • 1Department of Mechanical Engineering, University of Colorado, Boulder.

Prosthetics and Orthotics International
|August 1, 1994
PubMed
Summary
This summary is machine-generated.

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This study introduces a novel voluntary closing (VC) prosthetic prehensor with variable mechanical advantage, significantly enhancing grip strength and reducing user effort for prosthetic users. Field testing shows improved performance in many tasks, with a new free-wheel mode to address limitations with compliant objects.

Area of Science:

  • Biomedical Engineering
  • Rehabilitation Engineering
  • Prosthetics and Orthotics

Background:

  • Body-powered, voluntary closing (VC) prosthetic prehension often requires high cable tension for effective grip.
  • Existing VC devices have limitations in generating high prehensile forces and maintaining grip with reduced effort.

Purpose of the Study:

  • To develop and evaluate a prototype prehensor with variable mechanical advantage for improved prosthetic prehension.
  • To enhance grip strength, reduce cable excursion, and provide holding assistance in VC prosthetic devices.

Main Methods:

  • Fabrication of a prototype prehensor featuring a variable mechanical advantage mechanism.
  • Testing the prototype's performance in terms of mechanical advantage, cable tension requirements, and grip stability.

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  • Field testing across various tasks to assess functional performance and user experience.

    • Main Results:

    • The prototype achieved a mechanical advantage of 2.4, nearly five times that of conventional VC devices.
    • The device demonstrated a holding assist function, maintaining grip with only 3 lb (13.34N) of cable tension.
    • Field testing confirmed good performance in many tasks, offering a greater range of motion during grasping.

    Conclusions:

    • The variable mechanical advantage prehensor significantly improves grip force generation and reduces user effort in VC prosthetics.
    • The prototype shows promise for enhancing daily activities for prosthetic users, though challenges remain with grasping compliant objects.
    • Incorporation of a free-wheel mode addresses limitations, expanding the device's applicability to a wider range of objects.