Hybrid Actuation Mechanism for an Ultra Low-Cost Transhumeral Prosthesis: Preliminary Study

In this work, we present a novel hybrid approach to the actuation of an ultra low-cost upper limb prosthesis. An open-source mechanical design has been developed allowing the control of two degrees of freedom: opening-closing of the hand and flexion-extension of the elbow. The hand actuation mechanism has been designed in order to be easily convertible from electrically powered to body powered, thanks to the addition of a spring and a cable. In the study, we describe the mechanical design of both degrees of actuation and the hybrid solution, as well as the control schema and the preliminary tests for electromechanical characterization of the hand module.