TY - JOUR
T1 - Active upper limb prosthesis based on natural movement trajectories
AU - Ramírez-García, Alfredo
AU - Leija, Lorenzo
AU - Muñoz, Roberto
N1 - Funding Information:
Thanks to the Consejo Nacional de Ciencia y Tecnología (CONACYT, México), for the scholarship granted to A. Ramírez-García; and to the Instituto de Ciencia y Tecnología del Distrito Federal (ICyTDF) by the support for this research. Too, authors thank to PhD Pablo R. Hernández (Bioelectrónica section, CINVESTAV IPN) for providing the facilities of the motion analysis system. Declaration of interest: The authors report no conflicts of interest. The authors alone are responsible for the content and writing of the paper.
PY - 2010/3
Y1 - 2010/3
N2 - The motion of the current prostheses is sequential and does not allow natural movements. In this work, complex natural motion patterns from a healthy upper limb were characterized in order to be emulated for a trans-humeral prosthesis with three degrees of freedom at the elbow. Firstly, it was necessary to define the prosthesis workspace, which means to establish a relationship using an artificial neural network (ANN), between the arm-forearm (3-D) angles allowed by the prosthesis, and its actuators length. The 3-D angles were measured between the forearm and each axis of the reference system attached at the elbow. Secondly, five activities of daily living (ADLs) were analyzed by means of the elbow flexion (EF), the forearm prono-supination (FPS) and the 3-D angles, from healthy subjects, by using a video-based motion analysis system. The 3-D angles were fed to the prosthesis model (ANN) in order to analyze which ADLs could be emulated by the prosthesis. As a result, a prosthesis kinematics approximation was obtained. In conclusion, in spite of the innovative mechanical configuration of the actuators, it was possible to carry out only three of the five ADLs considered. Future work will include improvement of the mechanical configuration of the prosthesis to have greater range of motion.
AB - The motion of the current prostheses is sequential and does not allow natural movements. In this work, complex natural motion patterns from a healthy upper limb were characterized in order to be emulated for a trans-humeral prosthesis with three degrees of freedom at the elbow. Firstly, it was necessary to define the prosthesis workspace, which means to establish a relationship using an artificial neural network (ANN), between the arm-forearm (3-D) angles allowed by the prosthesis, and its actuators length. The 3-D angles were measured between the forearm and each axis of the reference system attached at the elbow. Secondly, five activities of daily living (ADLs) were analyzed by means of the elbow flexion (EF), the forearm prono-supination (FPS) and the 3-D angles, from healthy subjects, by using a video-based motion analysis system. The 3-D angles were fed to the prosthesis model (ANN) in order to analyze which ADLs could be emulated by the prosthesis. As a result, a prosthesis kinematics approximation was obtained. In conclusion, in spite of the innovative mechanical configuration of the actuators, it was possible to carry out only three of the five ADLs considered. Future work will include improvement of the mechanical configuration of the prosthesis to have greater range of motion.
KW - Activities of daily living
KW - Artificial neural network
KW - Natural movements
KW - Trans-humeral prosthesis
UR - http://www.scopus.com/inward/record.url?scp=77749298002&partnerID=8YFLogxK
U2 - 10.3109/03093640903463792
DO - 10.3109/03093640903463792
M3 - Artículo
SN - 0309-3646
VL - 34
SP - 58
EP - 72
JO - Prosthetics and Orthotics International
JF - Prosthetics and Orthotics International
IS - 1
ER -