Kinematic and Kinetostatic Synthesis of a Prosthetic Shoulder Mechanism for Upper Limb Amputees

This study reports the application of an original procedure developed by the authors for the determination of the optimal prosthesis architecture for a given upper limb amputee. In particular, the procedure has been used to provide the main guidelines for the design of a prosthetic shoulder mechanism for externally powered prostheses. The topology and the geometry of the artificial articulation have been determined as the optimal compromise solution between functionality and wearability (for the patient’s comfort). This choice is based on kinematic and kinetostatic simulations of upper limb prosthesis models and on quantitative criteria (in the form of purpose-build indices). The application of the procedure to the examined case is outlined.