Designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption

Masashi Sekine,1,2 Kahori Kita,1 Wenwei Yu1 1Center for Frontier Medical Engineering, 2Graduate School of Engineering, Chiba University, Chiba, Japan Abstract: Unlike forearm amputees, transhumeral amputees have residual stumps that are too small to provide a sufficient range of operation for their...

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Autores principales:	Sekine M, Kita K, Yu W
Formato:	article
Lenguaje:	EN
Publicado:	Dove Medical Press 2015
Materias:	Medical technology R855-855.5
Acceso en línea:	https://doaj.org/article/527ec69539fb4ffa99a6e7a4a65d6da0
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spelling	oai:doaj.org-article:527ec69539fb4ffa99a6e7a4a65d6da02021-12-02T01:37:34ZDesigning and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption1179-1470https://doaj.org/article/527ec69539fb4ffa99a6e7a4a65d6da02015-07-01T00:00:00Zhttp://www.dovepress.com/designing-and-testing-lightweight-shoulder-prostheses-with-hybrid-actu-peer-reviewed-article-MDERhttps://doaj.org/toc/1179-1470Masashi Sekine,1,2 Kahori Kita,1 Wenwei Yu1 1Center for Frontier Medical Engineering, 2Graduate School of Engineering, Chiba University, Chiba, Japan Abstract: Unlike forearm amputees, transhumeral amputees have residual stumps that are too small to provide a sufficient range of operation for their prosthetic parts to perform usual activities of daily living. Furthermore, it is difficult for small residual stumps to provide sufficient impact absorption for safe manipulation in daily living, as intact arms do. Therefore, substitution of upper limb function in transhumeral amputees requires a sufficient range of motion and sufficient viscoelasticity for shoulder prostheses under critical weight and dimension constraints. We propose the use of two different types of actuators, ie, pneumatic elastic actuators (PEAs) and servo motors. PEAs offer high power-to-weight performance and have intrinsic viscoelasticity in comparison with motors or standard industrial pneumatic cylinder actuators. However, the usefulness of PEAs in large working spaces is limited because of their short strokes. Servo motors, in contrast, can be used to achieve large ranges of motion. In this study, the relationship between the force and stroke of PEAs was investigated. The impact absorption of both types of actuators was measured using a single degree-of-freedom prototype to evaluate actuator compliance for safety purposes. Based on the fundamental properties of the actuators identified, a four degree-of-freedom robotic arm is proposed for prosthetic use. The configuration of the actuators and functional parts was designed to achieve a specified range of motion and torque calculated from the results of a simulation of typical movements performed in usual activities of daily living. Our experimental results showed that the requirements for the shoulder prostheses could be satisfied. Keywords: shoulder prosthesis, hybrid actuation, pneumatic elastic actuator, antagonistic mechanism, complianceSekine MKita KYu WDove Medical PressarticleMedical technologyR855-855.5ENMedical Devices: Evidence and Research, Vol 2015, Iss default, Pp 279-294 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medical technology R855-855.5
spellingShingle	Medical technology R855-855.5 Sekine M Kita K Yu W Designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption
description	Masashi Sekine,1,2 Kahori Kita,1 Wenwei Yu1 1Center for Frontier Medical Engineering, 2Graduate School of Engineering, Chiba University, Chiba, Japan Abstract: Unlike forearm amputees, transhumeral amputees have residual stumps that are too small to provide a sufficient range of operation for their prosthetic parts to perform usual activities of daily living. Furthermore, it is difficult for small residual stumps to provide sufficient impact absorption for safe manipulation in daily living, as intact arms do. Therefore, substitution of upper limb function in transhumeral amputees requires a sufficient range of motion and sufficient viscoelasticity for shoulder prostheses under critical weight and dimension constraints. We propose the use of two different types of actuators, ie, pneumatic elastic actuators (PEAs) and servo motors. PEAs offer high power-to-weight performance and have intrinsic viscoelasticity in comparison with motors or standard industrial pneumatic cylinder actuators. However, the usefulness of PEAs in large working spaces is limited because of their short strokes. Servo motors, in contrast, can be used to achieve large ranges of motion. In this study, the relationship between the force and stroke of PEAs was investigated. The impact absorption of both types of actuators was measured using a single degree-of-freedom prototype to evaluate actuator compliance for safety purposes. Based on the fundamental properties of the actuators identified, a four degree-of-freedom robotic arm is proposed for prosthetic use. The configuration of the actuators and functional parts was designed to achieve a specified range of motion and torque calculated from the results of a simulation of typical movements performed in usual activities of daily living. Our experimental results showed that the requirements for the shoulder prostheses could be satisfied. Keywords: shoulder prosthesis, hybrid actuation, pneumatic elastic actuator, antagonistic mechanism, compliance
format	article
author	Sekine M Kita K Yu W
author_facet	Sekine M Kita K Yu W
author_sort	Sekine M
title	Designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption
title_short	Designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption
title_full	Designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption
title_fullStr	Designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption
title_full_unstemmed	Designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption
title_sort	designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption
publisher	Dove Medical Press
publishDate	2015
url	https://doaj.org/article/527ec69539fb4ffa99a6e7a4a65d6da0
work_keys_str_mv	AT sekinem designingandtestinglightweightshoulderprostheseswithhybridactuatorsformovementsinvolvedintypicalactivitiesofdailylivingandimpactabsorption AT kitak designingandtestinglightweightshoulderprostheseswithhybridactuatorsformovementsinvolvedintypicalactivitiesofdailylivingandimpactabsorption AT yuw designingandtestinglightweightshoulderprostheseswithhybridactuatorsformovementsinvolvedintypicalactivitiesofdailylivingandimpactabsorption
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Designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption

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