Anthropomorphic Arm: Transhumeral Prosthesis

Gas-Actuated Anthropomorphic Upper Extremity Prosthesis

The goal of this work is the development of a high power-density, highly functional, anthropomorphic upper extremity prosthesis, which is intended to be “hardwired” into the human nervous system. The prosthesis achieves a high power density of actuation by utilizing the monopropellant hydrogen peroxide as a gas generator to power nine pneumatic-type actuators.  Of the nine independent actuators, one provides direct-drive actuation of the elbow, three provide direct-drive actuation for the wrist, and the remaining five actuate an underactuated 17 degree-of-freedom hand, which results in a total of 21 degrees of freedom in the arm. Custom small-scale, high-performance servovalves enable implementation of the proposed monopropellant approach.

Media