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Task-oriented design of a multi-degree of freedom upper limb prosthesis with integrated myocontrol and sensory feedback
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  • Jumpei Kashiwakura ,
  • Patrick Gabriel Sagategui Alva ,
  • Irene Mendez Guerra ,
  • Conrad Bona ,
  • S. Farokh Atashzar ,
  • Dario Farina
Jumpei Kashiwakura
Imperial College London

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Patrick Gabriel Sagategui Alva
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Irene Mendez Guerra
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Conrad Bona
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S. Farokh Atashzar
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Dario Farina
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Despite the progresses in upper limb prosthetic technologies of the past decades, there is still a large gap between the user needs and the available devices. Here, we describe the design and validation of a fully integrated, multi-degree of freedom upper limb prosthetic system designed on the basis of user survey studies. The system has five degrees of freedom, sufficient grasping/pinching force achieved by a combination of direct and underactuated activation to perform activities of daily living, an active wrist, a closed-loop tactile biofeedback system, and simultaneous/proportional myoelectric control. The aforementioned components have been successfully integrated into a standalone prosthetic system. The system has been tested for its capacity to reproduce the human grasp when applied to objects common in daily living. Moreover, we tested the system in standardized clinical tests that showed a reduction of shoulder and trunk compensatory movements with respect to a state-of- the-art commercial prosthesis.
2023Published in IEEE Transactions on Medical Robotics and Bionics on pages 1-1. 10.1109/TMRB.2023.3310717