Demonstration of the prosthesis in action. The cable on the lower right side of the screen is being pulled by hand. The cable in turn rotates the large pulley which drives a DC motor. The motors position is fed as the reference for the position of the motor on the left side of the screen. This motor tracks the first motor and vice versa. This gives you a tele-operated feedback control. Not shown here is the ability to adjust on-the-fly the rate at which the motors track each other, called "Cable sensitivity parameter", and the ability to adjust the virtual spring return at the gripper end. The cable and the gripper finger are not mechanically linked. The motors are controlled using MathWorks Matlab and Quanser QuaRC data acquisition board. The motors are Maxon DC brushless. The transmission is a capstan-sector pulley cable drive. Most parts are 3D printed, with the exception of capstans and one aluminium bar.
The purpose of the device is to allow patients the option of tuning their device prior to purchase. This would allow a patient a to purchase a prosthesis tuned specifically to their needs.
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