Mechanical Design, Control, and Laboratory Test of a Two-Degrees-of-Freedom Elbow Prosthesis
Ramsés Hernández-Cerero, Juan Alejandro Flores-Campos, José Juan Mojica-Martínez, Adolfo Angel Casarez-Duran, Luis Angel Guerrero-Hernández, Christopher René Torres-SanMiguel
TL;DR
This paper describes a two-degrees-of-freedom elbow prosthesis prototype and compares two control methods to improve its movement accuracy.
Contribution
The novel contribution is the use of a sliding mode control with time base generator strategy to achieve biomimetic movement in a 2DOF elbow prosthesis.
Findings
The SMC + TBG control method produced biomimetic angular displacement and velocity patterns.
The PID control method failed to replicate natural movement patterns effectively.
The prosthesis demonstrated a range of motion suitable for transhumeral amputees.
Abstract
This study presents the design and experimental testing of a two-degrees-of-freedom (2DOF) elbow prosthesis prototype designed to replicate the movement patterns of a native or normal human elbow. Two methods of the control of the prosthesis, namely, the proportional–integral–derivative method (PID; a well-established method) and a combination of sliding mode control with a time base generator strategy (SMC + TBG; an advanced method), were compared on the basis of various performance metrics of the prosthesis, as obtained in laboratory tests. Among these metrics were the angular displacement and velocity as a function of time. The mechanical design combined 3D-printed components with custom-designed joints, featuring a worm gear transmission with a crown gear for flexion–extension, enhanced by torsional springs, and a pinion gear with a crown gear for pronation–supination and control.…
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Taxonomy
TopicsProsthetics and Rehabilitation Robotics · Muscle activation and electromyography studies · Soft Robotics and Applications