A Gas-Actuated Anthropomorphic Prosthesis for Transhumeral Amputees

  title={A Gas-Actuated Anthropomorphic Prosthesis for Transhumeral Amputees},
  author={Kevin Fite and Thomas J. Withrow and Xiangrong Shen and Keith W. Wait and Jason E. Mitchell and Michael Goldfarb},
  journal={IEEE Transactions on Robotics},
This paper presents the design of a gas-actuated anthropomorphic arm prosthesis with 21 degrees of freedom and nine independent actuators. The prosthesis utilizes the monopropellant hydrogen peroxide as a gas generator to power nine pneumatic type actuators. Of the nine independent actuators, one provides direct- drive actuation of the elbow, three provide direct-drive actuation for the wrist, and the remaining five actuate an underactuated 17 degree of freedom hand. This paper describes the… CONTINUE READING
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