Mechanical design and assessment of a low-cost 7-DOF prosthetic arm for shoulder disarticulation

José Alfredo Leal-Naranjo, Christopher René Torres San Miguel, Marco Ceccarelli, Horacio Rostro-Gonzalez

Producció científica: Article en revista indexadaArticleAvaluat per experts

7 Cites (Scopus)


This work presents the design of a low-cost prosthetic device for shoulder disarticulation. A proper design of the mechanisms has been addressed to obtain a prototype that presents 7 degrees of freedom. Shoulder movement is achieved by means of a spherical parallel manipulator, elbow movement is performed by a six-bar mechanism, and the wrist movement is implemented by a spherical parallel manipulator. A set of dynamic simulations was performed in order to assess the functionality of the design. The prototype was built using 3D printing techniques and implementing low-cost actuators. An experimental evaluation was carried out to characterize this device. The result of this work is a prototype that weighs 1350 g that is able to perform movements related to activities of daily living.

Idioma originalAnglès
Número d’article4357602
RevistaApplied Bionics and Biomechanics
Estat de la publicacióPublicada - 2018
Publicat externament


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