Integrated Design of Compliant Upper Limb Prostheses: The UGentle Limb

This thesis aim to provide a comprehensive analysis of cutting-edge design strategies and advanced modeling techniques in the domain of upper limb prosthetics, with a primary focus on the development of flexible components. The balance between heightened ranges of motion, compact dimensions, and steadfast reliability is meticulously addressed through the application of analytical and computer-aided optimization methods. The study not only delves into the difficulties of replicating human limb anatomy but also provides useful guidelines for the creation of user-friendly prosthetics, aimed at mitigating the prevalent issue of abandonment. Chapters 2 and 3 delves into the nuances of compliant mechanisms. These sections detail the principal analytical techniques employed for the analysis and optimization of these novel components. Chapter 4 takes a broader perspective, extending the discourse to encompass human limb anatomy and offering insights into the current landscape of transhumeral upper limb prostheses. The core of this work, Chapter 5, introduces the conceptual design of the UGentle Limb, a transhumeral prosthetic limb with 7 degrees of freedom. This conceptual design is firmly rooted in the principles of variable stiffness, compliant joints, and a high degree of anthropomorphism, all geared towards mirroring the characteristics of the human limb. The chapter provides design insights for each arm component, including a variable-section elbow, a compliant wrist, and a compliant tendon-driven hand. The performance metrics for both modeling techniques and designs are meticulously examined through a combination of virtual and physical prototypes, underscoring the advantages of employing compliant mechanisms over traditional rigid counterparts. In addition to its theoretical contributions, this thesis provides practical utility by including codes in the appendix, ensuring accessibility and facilitating the wider adoption of these innovative techniques within the scientific community. Ongoing efforts involve the active prototyping and experimental testing of UGentle Limb, paralleled by the development of a sensorized second version of the hand. This approach not only positions the study as a significant contribution to the theoretical underpinnings of prosthetic design but also holds substantial promise for tangible advancements that can enhance the quality of life for individuals relying on upper limb prosthetic solutions.