Self-Adaptive Upper Limb Prosthetic Socket

• Published in: Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics pp. 413 - 418
• Main Authors: Polizzotto, Maria Grazia, Zaidi, Ahmed Zohaib, Paterno, Linda, Menciassi, Arianna
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.09.2024
• Subjects: Actuators; Force; Insurance; Pain; Prosthetics; Robot sensing systems; Sockets; Soft robotics; Strain; Usability
• ISSN: 2155-1782
• DOI: 10.1109/BioRob60516.2024.10719804

This paper proposes a self-adaptive trans-humeral prosthetic socket employing soft actuators to address issues of discomfort and pain caused by changes in residual limb volume over time. Specifically, the proposed solution integrates McKibben actuators, a sensorized prosthetic liner, and a wearable control unit to ensure proper prosthesis fitting. The system can be commanded by the user through a mobile app. Three sizes of McKibben actuators with 3, 5, and 8 mm diameters (small, medium, and large), and 8 cm length, were manufactured and tested. Maximum strain of 19.44 \pm 0.7{\%} , I 24.25 \pm 0.71\%.\ 25.64\pm 0.5{\%} . and maximum output force of 7.04 \pm 0.34 \mathrm{N}, 12.29 \pm 0.19 \mathrm{N}, 19.28 \pm 0.97 \mathrm{N} were obtained at 1 bar inlet pressure for small, medium and large actuators, respectively. Based on these results, eight large actuators were used in the final system, which was preliminary validated on a physical simulator and a healthy subject, demonstrating effective adaptation to volume changes and contact pressure feedback control. This smart socket is a promising solution for improving comfort and usability in upper limb prostheses.