A Modular Multi-DoF Prosthetic Wrist and Low-Level Autonomous Control for Ease-of-Use
Abstract
The proposed project centers on developing and evaluating a novel class of spherical prosthetic wrist that provides a range of motion equal to the unaffected human wrist while adding only two inches to the length of the residual limb. This device will be enabled by an intuitive pattern recognition-based surface EMG control scheme to directly control the three degrees of freedom of the wrist and one degree of freedom of the users terminal device, as well as smart low-level autonomy to enable functions such as autolevel to reduce cognitive loads for tasks such as keeping a soup spoon level during eating. These concepts will be tested through both a participatory research plan involving amputee end-users from conception, refinement to preliminary testing, as well as a six-subject amputee pilot study in the final year, conducted at the VA New York Harbor Health Care System (Manhattan).
Document Details
- Document Type
- Technical Report
- Publication Date
- Oct 01, 2019
- Accession Number
- AD1105398
Entities
People
- Aaron Dollar
- Linda Resnik
- Neil M. Bajaj
- Steven H. Huang
Organizations
- Yale University