Abstract:
Now is an exciting time to be in the field of Upper-Limb Prosthetics. Due to the limited
function of current commercially available upper-limb prosthetics and the increased incidence
of amputation injuries being seen in Operation Enduring Freedom (OEF - Afghanistan) and
Operation Iraqi Freedom (OIF) a number of new initiatives have been put into place to develop
replacement arm/hand systems capable of replicating the function of the human arm and hand.
In particular, the Defense Advanced Research Projects Agency (DARPA) has a four year
initiative, “Revolutionizing prosthetics 2009”. The goal of this program is to develop a
replacement arm/hand system capable of enabling soldiers with limb loss from OEF/OIF the
capability of returning to service similar to the way those with lower ankle-foot disarticulation
have been able to do for years. Led by the Johns Hopkins University Applied Physics
Laboratory, the goal of this project is to design a fully functional biomechatronic analog to the
human hand and arm. The device must be capable of duplicating the function of the original
limb and withstand the rigors of daily living. Our involvement on this team is to develop robust
and anthropomorphic hand-wrist prostheses capable of dexterous manipulation suitable for use
by persons with all levels of trans-radial limb loss. Where as to date most anthropomorphic
high degree of freedom hand manipulators place their actuators in the forearm [8, 9], this paper
details the results of placing the actuators intrinsic to the hand.
