Principal orientations of the wrist during adls

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Principal orientations of the wrist during adls

Towards the design of a synergetic wrist prosthesis

Conference Paper (2018)

Author(s)

T. A. Lenssen (TU Delft - Medical Instruments & Bio-Inspired Technology)

L. Cappello (Scuola Superiore Sant’Anna, Pontedera)

D. H. Plettenburg (TU Delft - Biomechatronics & Human-Machine Control)

C. Cipriani (Scuola Superiore Sant’Anna, Pontedera)

M. Controzzi (Scuola Superiore Sant’Anna, Pontedera)

DOI related publication

https://doi.org/10.1007/978-3-030-01845-0_68 Final published version

To reference this document use

https://resolver.tudelft.nl/uuid:d0f5784e-115c-4841-a9cd-dae19353b53a

More Info

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Publication Year

2018

Language

English

Pages (from-to)

339-343

Publisher

Springer

ISBN (print)

978-3-030-01844-3

ISBN (electronic)

978-3-030-01845-0

Event

Downloads counter

183

Abstract

To design an underactuated wrist prosthesis, a preliminary study has been conducted to identify the relationship between the Degrees of Freedom (DoFs) of the wrist during the execution of tasks of daily living. After the identification of the principal orientations of the wrist describing the tasks, polynomial functions were used to define a synergetic relationship between the DoFs. The latter can be implemented in a prosthetic wrist featuring one actuator to obtain motion along three DoFs, with the purpose of reducing compensatory movements.