Towards Articulated Soft Robots for Bionic Upper Limbs
| Main Authors: | Simon Lemerle, Giorgio Grioli, Manuel Giuseppe Catalano, Antonio Bicchi |
|---|---|
| Format: | Proceeding Journal |
| Terbitan: |
, 2020
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| Subjects: | |
| Online Access: |
https://youtu.be/medSyV2v1r4 |
Daftar Isi:
- Thanks to the inherent elasticity in their musculoskeletal system, vertebrate animals can modulate the impedance of their joints to enhance their interactions with the environment and to perform high dynamic tasks such as throwing, jumping, or running. Implementing these characteristics inside the prostheses seems a promising approach to improve their capacities. Up to now, there are very few devices for upper limb prostheses that have an inherent and controllable elasticity. In this paper, we discuss different approaches to design bionic upper limbs with a controllable elasticity, highlighting their strengths and challenges. In addition, we present a mechanical implementation of an articulated soft elbow joint that has a static behavior similar to a human joint. This joint serves as a basis to investigate the use of user-controllable elasticity in bionic upper limbs