Gennady N. Burov
PhD in Technical Sciences, Federal State Budgetary Institution «Federal Scientific Center of Rehabilitation of the Disabled named after G.A. Albrecht» of the Ministry of Labour and Social Protection of the Russian Federation, Head of Research Branch, 50, Bestuzhevskaya ul., Saint-Petersburg, 195067, Russia
Vladimir A. Bolshakov *
Federal State Budgetary Institution «Federal Scientific Center of Rehabilitation of the Disabled named after G.A. Albrecht» of the Ministry of Labour and Social Protection of the Russian Federation, Head of Design Department, 50, Bestuzhevskaya ul., Saint-Petersburg, 195067, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.
Oleg L. Belyanin
Federal State Budgetary Institution «Federal Scientific Center of Rehabilitation of the Disabled named after G.A. Albrecht» of the Ministry of Labour and Social Protection of the Russian Federation, Head of Biomechanical Research Department, 50, Bestuzhevskaya ul., Saint-Petersburg, 195067, Russia
Alyona S. Drobakha
Federal State Budgetary Institution «Federal Scientific Center of Rehabilitation of the Disabled named after G.A. Albrecht» of the Ministry of Labour and Social Protection of the Russian Federation, Junior Research Scientist, 50, Bestuzhevskaya ul., Saint-Petersburg, 195067, Russia
Received 27 May 2019
Abstract
Rehabilitation process of persons with disabilities with amputation defects of the forearm was studied. The study consists in developing of a proposal to create forearm prosthesis with simultaneous control of an artificial hand with several mobility functions, namely, the gripping function (opening-closing), rotation and bending. Study material was the implementation of innovative method for forearm prosthesis control. The main methods of forearm prosthesis control include the following: traction control method, mechanical control, inertial control, myotonic control, bioelectric control, and contact control method. Combining methods is used depending on the capabilities and needs of the disabled person during prosthetics. However, in multifunctional devices, control of artificial joints still remains alternate due to the limited number of control signal sources. The number of such sources is lesser, the higher the level of amputation. In all cases of manipulating objects, a disabled person has to use the mobility of the residual segments of the arm and shoulder girdle. That can be the resource of control of conjugate movement of two-three artificial hand's joints. The carried out research allowed subsequent development of a new method and system of simultneous control of artificial hand's conjugate gripping, rotating and bending movements, and allowed practical possibility of «hand-forearm» module's creating, that accomplish three active degrees of freedom of forearm prosthesis. Аs a result of the study a new control method and design principles for constructive versions of a new prosthetic forearm were formed; a method of recording the angle of rotation of the shoulder to control the bending of an artificial hand and design version of the setting devices and the device of the active hand-forearm module were developed.
Key words
Forearm prosthesis, artificial hand, servo drive, feedback, prosthesis' control methods; forearm prosthesis' control system.
DOI
https://doi.org/10.31776/RTCJ.7308
Bibliographic description
Burov, G., Bolshakov, V., Belyanin, O. and Drobakha, A. (2019). Innovative forearm prosthesis with simultaneous control of three functions of artificial hand. Robotics and Technical Cybernetics, 7(3), pp.233-239.
UDC identifier:
617.57-089.28
References
