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Designing and testing lightweight shoulder prostheses with hybrid actuators for movements involved in typical activities of daily living and impact absorption

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Figure

Table 1 Definition of symbols used frequently in this paper
Figure 1 characteristics of PEa. Notes: (A) PEa; (B) aM with PEa; (C) compliance in two directions; (D) responses to pinching and bending.Abbreviations: aM, antagonistic mechanism; PEa, pneumatic elastic actuator.
Figure 4F and G show the PEA in place for testing in the configurations shown in Figure 4D and E, respectively, ie, the combination of the impact absorption of the joint provided by the PEA and motor with the absorption of the PEA in the
Figure 5 arm link model of shoulder prosthesis. Notes: (A) 4-DOF arm link model; (B) scanned 3D data of socket and subject’s body surface
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