Liquid-fueled actuation for an anthropomorphic upper extremity prosthesis.

Liquid-fueled actuation for an anthropomorphic upper extremity prosthesis. Research Abstract Details 

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Liquid-fueled actuation for an anthropomorphic upper extremity prosthesis. Abstract Text:

K B Fite,T J Withrow,K W Wait,M Goldfarb,Kevin B Fite,Thomas J Withrow,Keith W Wait,Michael Goldfarb,

This paper describes the design of a 21 degree-of-freedom, nine degree-of-actuation, gas-actuated arm prosthesis for transhumeral amputees. The arm incorporates a direct-drive elbow and three degree-of-freedom wrist, in addition to a 17 degree-of-freedom underactuated hand effected by five actuators. The anthropomorphic device includes full position and force sensing capability for each actuated degree of freedom and integrates a monopropellant-powered gas generator to provide on-board power for untethered operation. Design considerations addressed in this paper include the sizing of pneumatic actuators based on the requisite output energy at each joint; the development of small low-power servovalves for use with hot/cold gases; the design of compact joints with integrated position sensing; and the packaging of the actuators, on-board power, and skeletal structure within the volumetric envelope of a normal human forearm and elbow. The resulting arm prototype approaches the dexterous manipulation capabilities of its anatomical counterpart while delivering approximately 50% of the force and power output of an average human arm.

Liquid-fueled actuation for an anthropomorphic upper extremity prosthesis. Publishing Authors By Initials

KB Fite,TJ Withrow,KW Wait,M Goldfarb,KB Fite,TJ Withrow,KW Wait,M Goldfarb,

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Liquid-fueled actuation for an anthropomorphic upper extremity prosthesis. Journal Published:

PUBLICATION TYPE: Journal Article

Journal: Conference proceedings : ... Annual International

VOLUME: 1

Page Numbers: 5638-42

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ISSN: 1557-170X

DAY: 23

MONTH: 10

YEAR: 2006

Liquid-fueled actuation for an anthropomorphic upper extremity prosthesis. Information

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LANGUAGE: eng

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Grant and Affiliation Information for Liquid-fueled actuation for an anthropomorphic upper extremity prosthesis.

AFFILIATION: Vanderbilt Univ., Nashville, TN.

Country: United States

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MEDLINETA: Conf Proc IEEE Eng Med Biol So

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