The design of an externally-powered prosthetic arm
The design of an externally-powered prosthetic arm
The research work described in this thesis is concerned with the prototype of an upper-limb prosthetic device or artificial arm. This arm has four degrees-of-freedom, all powered by d.c. permanent magnet motors. This report begins with an investigation into the upper-limb deficient population and the types of arms available to them. Relevant research work being carried out in academic institutions on advanced concepts in artificial arm design, is also discussed. A description of experimental work, carried out to obtain data on joint characteristics in the human arm, is given. The novel method devised produced results on such parameters as joint velocity and torque levels, as found in an average adult male arm. Such information combined with the time-pattern of the movement is essential if one is to build an artificial arm that is to replace the natural limb. The main objective of the mechanical design of the artificial arm was to build a limb with reliable mechanical joints. In pursuing this objective two unusual transmission systems have been tried in the elbow flexion and wrist deviation joints. The electronic circuits constructed for this project have consisted mainly of interface boards that are used to link the arm's motor drives and transducers to its computer based controller. A method of using a switching algorithm to control the artificial arm was explored because of the limited processing time available when controlling four motor drives consecutively. Using this method the time pattern of movement of the artificial joints was similar to that of the natural limb. Recommendations for future research work, using this artificial arm, are given in the final chapter of this thesis. (DX77113)
University of Southampton
1983
Brown, David John
(1983)
The design of an externally-powered prosthetic arm.
University of Southampton, Doctoral Thesis.
Record type:
Thesis
(Doctoral)
Abstract
The research work described in this thesis is concerned with the prototype of an upper-limb prosthetic device or artificial arm. This arm has four degrees-of-freedom, all powered by d.c. permanent magnet motors. This report begins with an investigation into the upper-limb deficient population and the types of arms available to them. Relevant research work being carried out in academic institutions on advanced concepts in artificial arm design, is also discussed. A description of experimental work, carried out to obtain data on joint characteristics in the human arm, is given. The novel method devised produced results on such parameters as joint velocity and torque levels, as found in an average adult male arm. Such information combined with the time-pattern of the movement is essential if one is to build an artificial arm that is to replace the natural limb. The main objective of the mechanical design of the artificial arm was to build a limb with reliable mechanical joints. In pursuing this objective two unusual transmission systems have been tried in the elbow flexion and wrist deviation joints. The electronic circuits constructed for this project have consisted mainly of interface boards that are used to link the arm's motor drives and transducers to its computer based controller. A method of using a switching algorithm to control the artificial arm was explored because of the limited processing time available when controlling four motor drives consecutively. Using this method the time pattern of movement of the artificial joints was similar to that of the natural limb. Recommendations for future research work, using this artificial arm, are given in the final chapter of this thesis. (DX77113)
This record has no associated files available for download.
More information
Published date: 1983
Identifiers
Local EPrints ID: 460852
URI: http://eprints.soton.ac.uk/id/eprint/460852
PURE UUID: ec6bcfa0-7f76-49a8-bc3d-b4280b1c71bc
Catalogue record
Date deposited: 04 Jul 2022 18:31
Last modified: 04 Jul 2022 18:31
Export record
Contributors
Author:
David John Brown
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics