Fig. 2
From: CyberLimb: a novel robotic prosthesis concept with shared and intuitive control
Top view of the arm prosthesis (CyberLimb) with top and bottom lids removed. The wrist actuating unit is visible, which drives the proximal wrist pulley attached to the distal wrist pulley with tendons to actuate the wrist-based on positional measurements determined from the inertial measurement unit (IMU) sensor housed in the prosthesis. The wrist can flex and extend ±50\(^{\circ }\) and is able to maintain a horizontal gripper position in the horizontal “auto-leveling” mode. An identical actuating unit is positioned directly below the wrist actuating unit shown. This actuating unit drives the proximal gripper pulley attached to the distal gripper pulley with tendons to open and close the gripper based on user control from the FSR headband or phone control interface. Tensioning screws are fixed to the gripper and wrist for quick access to tendon tensioning. The grippers are 3D printed from a flexible thermoplastic polyurethane (TPU) material allowing them to conform to different object shapes. FSR sensors are embedded directly into the gripper body in order to differentiate objects and thus provide feedback to the user. A sliding lock allows the user to lock the axial forearm rotation position in place. When unlocked, the forearm can supinate and pronate relative to the stump interface to change the rotational position of the gripper. An HDMI connection port is fixed to the side of the prosthesis to connect to the electronics housed in a separate backpack