TAILIEUCHUNG - Motion Control_2

Tham khảo sách 'motion control_2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 16 Elbow Prosthesis for Partial or Total Upper Limb Replacements Federico Casolo Politecnico di Milano Department of Mechanics Italy 1. Introduction While the prosthetic systems for hands amputation are fairly common the active prostheses for the other joints of the upper limb are rarer. In addition to commercial reasons undoubtedly related to the low number of trans-humeral amputations than the hands amputations and to the exiguous number of shoulder disarticulation technical reasons are also crucial. Among which the electro-mechanical complexity of the system and above all the difficulty to design simple and natural motion control systems. Nevertheless active elbow and shoulder prosthetic joints can be very important for some upper limb amputees for the everyday life for working or for other social reasons in particular if the amputation is bilateral. The upper limb prostheses can by functional or can have only cosmetic purposes. The functional prosthetic arms can have passive or active features. The active artificial upper limbs can be divided into prostheses powered by body energy and prostheses powered by external energy. To the first group belong systems actuated by the motion of other body joints and systems moved by means of the arm muscles through their tendons Chilress et al 2001 . The last intuitive and theoretically easy to control were somewhat popular in central Europe in mid 20th century but they have been virtually abandoned because of critical problem both biological and mechanical. On the contrary the upper limbs systems that transmit to the prostheses through cables the displacement of other body compartments are still common and some special applications of this method are still under development. They are mostly suggested to active subjects with adequate mobility of the other upper body structures which want to feel a direct complete control of their artificial joints. However at present most of artificial upper limbs are equipped by joints .

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