Abstract:
Detailed design of a prototype prosthetic limb based on biomimetic principles has been
completed. This paper will update the progress that has been made toward the creation of a new,
high-performance limb. The limb uses antagonistic actuators with low and variable stiffness to
create dynamics and interaction properties similar to those of a healthy arm. Theoretical
examination of the mechanical design has yielded several interesting results and an accurate
estimate of the performance and improved efficiency levels of the limb. The results have been
used to understand several fundamental issues regarding the design of such a limb. Prototype
construction is underway and reflects overcoming several design challenges by careful use of
standard components.
