Design and evaluation of a symmetric amplification mechanism based anthropomorphic shoulder.
Bioinspir Biomim
; 19(4)2024 Jun 21.
Article
en En
| MEDLINE
| ID: mdl-38848735
ABSTRACT
Shoulder joints determine the motion range of the upper limb. Thus, the compact and well-stiffened spherical parallel mechanism (SPM) has emerged as the mainstream shoulder prosthesis design approaches. However, the SPM's moving pairs of redundant motions impose excessive constraints that limit its workspace. Therefore, amplifying the workspace of the SPM to cover the motion range required by human daily activities is a pressing problem in shoulder prosthesis design. To address this challenge, this study proposed a workspace amplification approach through the kinematic analysis of a symmetrically arranged 2 degrees of freedom (DoFs) passive mechanism, together with the designed and optimized 3-RRR SPM, to construct an anthropomorphic shoulder. The effectiveness and reliability of the proposed mechanism was verified through thorough analyses. Simulation and experiment results demonstrated that the workspace amplification mechanism could significantly increase the maximum motion match index between the shoulder prosthesis and the daily workspace of the human shoulder from only 26.3% to 94.79%, solving the problem that the traditional SPM-based prostheses cannot satisfy the motion range required by daily activities. Moreover, the proposed mechanism has the potential to amplify the workspace of most parallel mechanisms with multiple DoFs after proper modification.
Palabras clave
Texto completo:
1
Colección:
01-internacional
Base de datos:
MEDLINE
Asunto principal:
Diseño de Prótesis
/
Articulación del Hombro
/
Rango del Movimiento Articular
Límite:
Humans
Idioma:
En
Revista:
Bioinspir Biomim
Asunto de la revista:
BIOLOGIA
/
ENGENHARIA BIOMEDICA
Año:
2024
Tipo del documento:
Article