Direct Coupling of Robotic Hands or Prostheses with the Radius Ulna Complex
Last Updated on Tuesday, 08 May 2012 14:41 Tuesday, 08 May 2012 14:31
Ventil Journal of Fluid Power, Automation and Mechatronic
Direct Coupling of Robotic Hands or Prostheses with the Radius Ulna Complex
Belfiore, N.P., Scaccia, M., Cappellani, A., Verotti, M.
August 2010, pp. 354 – 359
Ljubljana, Slovenia, ISSN 1318–7279,
presented also in the Proceedings of the Int. Workshop on Robotics in Alpe-Adria-Danube Region RAAD09, Brasov, Romania.
Abstract
A new method of mechanically connecting artificial or robotic hands to the human arm is herein described. The idea is based on techniques which make use of fracture fixation devices, very well known in orthopedics. The presented connecting system consists in a real 3 DOF (w.r.t. the humerus) mechanism that has two end plates which are fixed directly, one on the radius, on the ulna the other. Since the system is a new concept project, no data exists about its reliability. Therefore, in the paper, a feasibility study on the most delicate components is described. In particular, FEA has been performed on the screws and on the bone-nut-screws, and some experimental tests in vitro have been made on a pig rib.
