01584nas a2200181   4500008003900000024006400039245007800103210006900181260001200250300001200262520094700274100002801221700002101249700002001270700002001290700002501310856006701335       2020                          d  aPrint ISBN 978-3-030-70315-8, Online ISBN 978-3-030-70316-500aTowards a Myoelectric Prosthetic Wrist with Rigid and Compliant Behaviour0 aTowards a Myoelectric Prosthetic Wrist with Rigid and Compliant   c10/2020  a489-4933 a<p>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).</p>
1 aCapsi-Morales, Patricia1 aPiazza, Cristina1 aGrioli, Giorgio1 aBicchi, Antonio1 aCatalano, Manuel, G.  uhttps://link.springer.com/chapter/10.1007/978-3-030-70316-5_78