Affiliations: [a] Instituto de Automática Industrial, CSIC, Ctra. Campo Real km. 0, 200, 28500 Arganda del Rey, Madrid, Spain. Tel.: +34 918 711 900; Fax: +32 918 717 050; E-mail: jlpons@iai.csic.es | [b] PMA Division, Katholieke Universiteit, Celestijnenlaan, 300B, B-3001 Heverlee-Leuven, Belgium. Tel.: +32 0 16 322 640; Fax: +32 0 16 322 987
Abstract: This paper presents the work carried out at the Instituto de Automática Industrial, in the framework of the EU MANUS project and with the co-operation of the Katholieke Universiteit of Leuven, to develop a specifically designed TWUM for driving our prototype of hand prosthesis. The application of TWUM to prosthetic devices has clear advanteges, namely, noiseless operation, self-braking drive, high torque and low speed characteristics. Here we analyse main actuation advantages, point out main drawbacks of this technology and describe our research in the area of specific design of TWUM for high torque actuation, improved control characteristics and enhanced overall performance. We intend to provide a concurrent approach to the overall actuator design involving electronics, mechanical design as well as improved control strategies having in mind the prosthetic application.
