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Masters Student
Phone: (312) 238-1564
Rm#: 1337
Email: jeff.d.christensen@gmail.com
My master’s project involves the development of a more functional prosthetic wrist. Current prosthetic wrists are limited in terms of their functionality. Current wrists on the market only rotate about the central arm axis, causing unnatural and often awkward positioning of the residual limb. Also, all wrists have no impact protection, increasing the probability of user injury and prosthetic damage in uncontrolled situations. Also, most writs are required to be manually positioned which can be difficult and time consuming.
Through the introduction of a Series Elastic Actuator (SEA), I believe the prosthetic wrist issues can be resolved. Gill Pratt and Matthew Williamson developed the SEA ideal to allow for the introduction of controlled compliance into a robotic system. To create a SEA, an elastic element is placed between the gear train and the output of the system.
By integrating a SEA into a prosthetic wrist, the functionality of the wrist is improved. The wrist can be designed to more naturally mimic the motion of the human wrist to eliminate much of the awkward positioning. SEA’s allow for practical implementation of a force control algorithm which can provide impact protection. Also, the SEA wrist will be motorized to make the wrist easier to use.
Currently, I am investigating the use of elastomers as the elastic element in the SEA. The gear train and motor of a prosthetic hand are being modified for concept testing. I am excited to see the results of this project.