Author(s)

F. Casolo, M. Camposaragna & M. Molaschi

Abstract

Artificial upper limb development, simulation and control F. Casolo, M. Camposaragna & M. Molaschi Politecnico di Milano, Italy. Abstract The artificial upper limbs are widespread in the amputees community and have two distinct aims: to restore the aesthetic or the mechanical function of the limb. Functional prostheses can be passive - with friction joints - or active. The last ones can be classified as "body-powered" or "externally-powered". The "externally powered are currently supplied by electrical actuators and driven by EMG signals: if the active joints are more than one they are driven sequentially and the system includes a selector. Over a certain number of active axes this approach is stressing and produces very unnatural movements. This is one of the reasons why, at present, shoulder joints are only passive. An innovative active shoulder with two d.0.f. based on a differential gear is presented. It is a component of our total artificial limb (4 or 5 d.0.f.) for which a new approach to

Keywords