Table 1 Requirements used for the development of the CyberLimb prosthesis
From: CyberLimb: a novel robotic prosthesis concept with shared and intuitive control
Domain | Type | Requirement description |
|---|---|---|
Mechanics | Kinematics | Available DoFs: 3 (Gripper grasp and release, Wrist flexion and extension and Forearm supination and pronation) |
Available parallel actuation of wrist and gripper | ||
Kinetics | Enough force of gripper and wrist to hold all objects of challenge | |
Stable grasps, no slippage | ||
Geometry | Suitable geometry of gripper to grasp all objects of the competition with precision | |
Available grasp types: cylindrical grasp and precision pinch | ||
Comfortable useful prosthesis with minimal weight and size | ||
Robust prosthesis design | ||
Prosthesis should be able to be built with limited resources: time, people and costs | ||
Control | Functionality | Availability of a force regulated grasping option |
Availability of parallel control of gripper and wrist | ||
Availability of predefined prosthesis motions to complete tasks semi automatically whenever needed by the user | ||
Availability of haptic feedback | ||
Availability of orientation sensory information for shared control | ||
Grasping should be controllable by redundant inputs | ||
User experience | Possibility to switch fast between multiple control modes on user control interface | |
Comfortable prosthesis to operate through an intuitive user control interface and non-tiring control of movements | ||
Easy to learn prosthesis operation | ||
Reliability | Control should show low latency and should be deterministic | |
Prosthesis should automatically continue to hold an object once grasped to be failsafe |