%0 Conference Paper %B International Conference on NeuroRehabilitation %D 2020 %T Towards a Myoelectric Prosthetic Wrist with Rigid and Compliant Behaviour %A Capsi-Morales, Patricia %A Piazza, Cristina %A Grioli, Giorgio %A Bicchi, Antonio %A Catalano, Manuel G. %X

The simple kinematics of commercial prosthetic wrists limits the individuals in performing a wide range of tasks and restore natural motor functions. We propose a functional prosthesis that improves grasping capabilities through the addition of a simple yet useful 3 DoF myoelectric wrist joint with compliant and rigid properties. Its locking capability enables the adjustment of hand configuration in pre-grasping phases and separates the hand motion from the wrist motion. The proposed wrist, combined with a prosthetic hand, was tested with 8 able-bodied subjects and 1 subject with limb loss. It was compared to a common commercial rotational wrist and to subjects’ natural wrist. Results evidence the feasibility of the prototype, improved performance capabilities, and the subjects’ first impression about the proposed system. Finally, a prosthesis user tested and compared systems during Activities of Daily Living (ADL).

%B International Conference on NeuroRehabilitation %P 489-493 %8 10/2020 %U https://link.springer.com/chapter/10.1007/978-3-030-70316-5_78 %) Springer, Cham %R https://doi.org/10.1007/978-3-030-70316-5_78