Fig. 4
From: CyberLimb: a novel robotic prosthesis concept with shared and intuitive control
CyberLimb arm prosthesis device mechanics. A Soft robotic gripper 3D printed from flexible TPU material. Flexible struts are incorporated into the gripper to allow it to flex around various sized objects. A notch is cut at the tip of the gripper to be able to grasp the scissors from the competition task. The gripper has a tapered shape to have adequate surface area for gripping objects. B FSR sensors are embedded into the gripper body to be able to differentiate between disparate types of objects based on measured contact forces. The gripper attaches to the wrist shaft, which houses the printed circuit board (PCB) that reads FSR sensor measurements. C Close up of exploded gripper joint view depicting distal gripper and wrist pulleys. The tendons are routed through the prosthesis forearm to drive gripper and wrist actuation, respectively. D Exploded view of the axial rotation mechanism. A sliding lock allows the user to lock axial forearm supination and pronation in place with respect to the stump interface. Notches on the stump interface connector allow incremental rotation of the prosthesis’ forearm body. The mechanism is fixed with a lathed aluminum cap and a double bearing rotation joint