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_7801394nas a2200205   4500008003900000245005000039210005000089260001200139520076500151653001700916653002400933653001800957653002600975100002801001700002501029700002001054700002101074700002001095856007301115       2020                          d00aTowards More Natural Transradial Bionic Limbs0 aTowards More Natural Transradial Bionic Limbs  c12/20203 a<p>Based on previous experience with prosthesis users and literature, this paper introduces three important aspects to further develop functional transradial myoelectric prostheses: stiffness modulation, grasp reliability and limb dexterity. In particular, we propose three possible solutions and discuss on the insights observed about the exploration of impedance control in prosthetic hands during Activities of Daily Living and social interaction, the introduction of an articulated palm to increase all hand parts contribution in grasping, and a compact 3 DoF myoelectric wrist capable to switch from compliant to rigid properties during pre-grasping phase to decrease compensatory movements and favour more natural body postures in prosthesis users.</p>
10aBionic Limbs10aMyoelectric control10aSoft-robotics10aUpper-limb prostheses1 aCapsi-Morales, Patricia1 aCatalano, Manuel, G.1 aGrioli, Giorgio1 aPiazza, Cristina1 aBicchi, Antonio  uhttps://i-rim.it/wp-content/uploads/2020/12/I-RIM_2020_paper_144.pdf