Chapter 5 : Cyborg Technology-Biomimetic Orthotic and Prosthetic Technology

5.0 Introduction............................................................................................2 5.1 A Brief History of O&P Technological Development ....................................................... 2 5.2 O&P Systems: State of the Art ........................................................................................... 3 5.2.1 Upper Extremity Prosthetic Systems .......................................................................... 4 5.2.2 Lower Extremity Prosthetic Systems.......................................................................... 5 5.2.3 Lower and Upper Extremity Orthotic Systems........................................................... 6 5.3 New Horizons for O&P Technology: Merging Body and Machine ................................... 6 5.3.1 Biomimetic Structural Design..................................................................................... 6 5.3.1.1 Need for a First Principles Approach...................................................................... 6 5.3.1.2 Case Study: Development of Analogous Forearm Joints ....................................... 7 5.3.2 Biomimetic Actuation............................................................................................... 18 5.3.2.1 Conventional O&P Actuators ............................................................................... 18 5.3.2.2 Series-Elastic Actuators ........................................................................................ 19 5.3.2.3 EAP Actuators ...................................................................................................... 19 5.3.2.4 Muscle Tissue Actuators....................................................................................... 19 5.3.3 Biomimetic Control .................................................................................................. 21 5.3.3.1 Human Movement Biomechanics......................................................................... 21 5.3.3.2 Case Study: Autonomous locally Controlled O&P Leg Systems......................... 23 5.3.3.3 Distributed Sensing............................................................................................... 28 5.4 Concluding Remarks......................................................................................................... 30 5.5 References......................................................................................................................... 31

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