This paper proposes a multi-DoF hybrid-powered transradial robotic prosthesis, named HyPro. The HyPro consists of two\nprosthetic units: hand and wrist that can achieve five grasping patterns such as power grasp, tip grasp, lateral grasp, hook grasp, and\nindex point. It is an underactuated device with 15 degrees of freedom. A hybrid powering concept is proposed and implemented on\nhand unit ofHyPro where the key focus is on restoration of grasp functions of biological hand. A novel underactuated mechanism is\nintroduced to achieve the required hand preshaping for a given grasping pattern using electric power in the pregrasp stage and body\npower is used in grasp stage to execute the final grasping action with the selected fingers. Unlike existing hybrid prostheses where\neach of the joints is separately controlled by either electric or body power, the proposed prosthesis is capable of delivering grasping\npower in combination.The wrist unit of HyPro is designed and developed to achieve flexion-extension and supination-pronation\nusing electric power. Experiments were carried out to evaluate the functionality and performance of the proposed hybrid-powered\nrobotic prosthesis.The results verified the potential of HyPro to perform intended grasping patterns effectively and efficiently.
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