2022 / 04

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DOI: 10.47183/mes.2022.050

ORIGINAL RESEARCH

Solution to the problem of designing a safe configuration of a human upper limb robotic prosthesis

Bureev ASh1,2, Golobokova EV1,2, Zhdanov DS1,2, Kosteley YV1,2, Koshelev RV2, Seleznev AI1,2, Fomenko EA2
About authors

1 Center for Development of Science, Technology and Education in the Field of Defense and State Security, National Research Tomsk State University, Tomsk, Russia

2 Federal Research and Clinical Center of Medical Rehabilitation and Balneology of the Federal Medical Biological Agency, Moscow, Russia

Corresponding author: Dmitry S. Zhdanov
Krasnoarmeyskaya, 14, Tomsk, 634029, Russia; ur.liam@vonadhZ_S_D

About paper

Funding: The study was conducted in the context of execution of the State Task by the Ministry of Education and Science of Russia, project #FSWM-2022-0008.

Acknowledgments: Natalya Abdulkina, deputy general director of the Federal Scientific and Clinical Center for Medical Rehabilitation and Balneology of the Federal Medical Biological Agency, for comprehensive support of the researchers; Alexander Vorozhtsov, vice-rector for research and innovation activities of the National Research Tomsk State University, for his contribution to the scientific progress in the field of medical robotics.

Compliance with the ethical standards: Conclusion of the local ethical committee at the Federal Scientific and Clinical Center for Medical Rehabilitation and Balneology of the Federal Medical Biological Agency #1 of July 06, 2022. At this stage, the study involved no patients, therefore, no signed voluntary informed consents forms were required.

Received: 2022-12-06 Accepted: 2022-12-20 Published online: 2022-12-30
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Fig. 1. Structure of the AR-600E manipulator
Fig. 2. Example of configuration of the manipulator of AR-600E anthropomorphic mechanism
Table 1. Comparison of the results of application of various algorithms enabling calculation of the angular positions of component drives of the anthropomorphic manipulator
Table 2. Absolute difference between the coordinates of the axes of Elbow and WristR components discovered through application of the considered methods to calculate their drives' angular positions
Table 3. Results of adjustment of the angular position of WristS drive