PROGRESS TOWARDS A BIOMIMETIC PROSTHETIC ARM

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.