Development And Application Of Humanoid Prosthesis With Improved Performance

The amputees are the largest minority in the world.For people with partial limb amputation,a dexterous prosthesis is an effective alternative solution to restore their lost limb functions.Although some myoelectric prostheses are commercially available,the rejection rate of myoelectric prostheses is as high as 40%,mainly because there are still many problems that existed in the practical application of myoelectric prostheses.For example,the weight and size of myoelectric prosthetics are larger when compared with a nature hand,which makes the residue of amputees prone to fatigue when wearing prostheses.The lack of humanoid appearance makes the prosthesis difficult to provide the natural limb matching effect.The limited myoelectric signal of residual makes the control of multi degrees of freedom(DOFs)myoelectric prosthesis difficult.The lack of appropriate sensory feedback makes the myoelectric prosthesis cannot provide enough information for the amputees.The existing problems that make the function of myoelectric prosthesis cannot satisfy the needs of the amputees,affecting the manipulation performance of prostheses.Therefore,in order to solve the problems that existed in the practical application of prosthetics,this paper mainly focuses on the studies of the mechanical and optimization design of prosthetic hands,sensory feedback and fatigue analysis of the prosthesis.An innovative structure was developed to reduce the weight and size of the prosthetic hand.The prosthetic hand is fabricated by combining 3D printing technology and traditional machining,which makes the prosthetic hand compact in structure and light in weight.Besides,the appearance of the prosthetic hand was optimized to make it more affinity.In order to improve the problem of insufficient myoelectric signals of amputees,many kinds of prosthetic hands,from single DOF to multi DOFs with modular structures,were designed,which could be installed and matched personalized according to the different needs of amputees.In order to solve the lack of appropriate sensory feedback of the existing prostheses,the influence of position feedback on the manipulation of the prosthesis was studied.The results showed that the position feedback could improve the accuracy and success rate of the myoelectric prostheses.In addition,the relationship between the weight of the prostheses and the muscle fatigue of the residual limb that wears the prosthesis was studied.The results showed that the prosthesis weight would aggravate the residual limb's muscle fatigue and affect the recovery time of the fatigue muscles.To sum up,the research in this paper focuses on the problems existing in the practical application of the myoelectric prostheses.The research results of this paper will contribute to the development and design of the myoelectric prostheses with high bionic performance,improve the manipulation effect of the prostheses,increase the acceptance of prostheses for the amputees,and promote the practical application of the prostheses.