Bio-Robotics: The DEKA Luke Prosthetic Arm
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1 Bio-Robotics: The DEKA Luke Prosthetic Arm Tom Doyon, Lead Electrical Engineer DEKA Research and Development Corp. NHJES Conference October 4, 2012 DEKA R & D and DEKA Integrated Solutions Proprietary 1
2 Agenda About DEKA Prosthetic Arms Bio-robotics DARPA Revolutionizing Prosthetics Program The DEKA Luke Arm System Arm overview Arm demo DEKA Integrated Solutions - Proprietary 2
3 About DEKA Research & Development Corp. Invention and systems engineering company founded and led by pioneering inventor Dean Kamen Located in the historic Manchester Millyard for over 30 years Birthplace of the Segway Successful track record for commercializing sophisticated medical devices including an FDA Class III stair-climbing wheelchair FDA-inspected and approved development processes and systems Medical device manufacturing facilities shipping a variety of patient-connected devices for Fortune 500 clients DEKA Integrated Solutions - Proprietary 3
4 Prosthetic Arms An artificial device used to replace a missing or defective limb First prosthetic arms thought to be used 1,000 years ago Movable joints with control used in early 1800s US government agency for advancing protheses formed in 1945 after WW II Largely unchanged since then The standard of care today is a body-powered hook DEKA Integrated Solutions - Proprietary 4
5 What is Bio-robotics? A sub-field of robotics in which robots emulate or simulate a living biological organism Most work is done in Research settings DEKA Integrated Solutions - Proprietary 5
6 DARPA Revolutionizing Prosthetics Program DARPA: Defense Advanced Research Projects Agency, an agency of the Department of Defense RP Program launched in 2006 to advance the state-ofthe-art of upper limb prosthetic technology Far behind lower-limb prosthetics Created to support US military wounded warriors The program includes: Research on brain control and other advanced control schemes for robotic assist devices Development of advanced, modular prosthetic arms Testing of the arms in a clinical setting DEKA s role DEKA Integrated Solutions - Proprietary 6
7 The DEKA Luke Prosthetic Arm Gen 1 Project started at DEKA in 2006 Design goals: Simultaneous control of multiple powered degrees of freedom Advanced grasp control Touch feedback Strength, range of motion, and speed to perform Activities of Daily Living Tolerance to outdoor environments Advanced control schemes Consulted with many industry experts such as prosthetists and research scientists Designed by a small team at DEKA comprised of mechanical, electrical, system, and software engineers World-class in-house machine shop including rapid prototyping capability First generation proof-of-concept functioning prototype produced in less than 1 year DEKA Integrated Solutions - Proprietary 7
8 Luke Gen 2 Refinements made to the initial prototype Designed to be a clinical study platform Modular to support 3 different amputation levels Tested by many subjects during studies at DEKA and at VA Medical Centers Feedback from the studies was directly used to support the design of the production-intent model DEKA Integrated Solutions - Proprietary 8
9 The DEKA Luke Gen 3 Arm System DEKA Integrated Solutions - Proprietary 9
10 Gen 3 Arm System Overview 10 active degrees of freedom 5 brushless DC motors 5 brushed DC motors Absolute position feedback in all joints 6 pre-programmed hand grips Modular and available in 3 configurations for different amputation levels Configurable upper arm and lower arm lengths Rechargeable Li-Ion battery system Configurable battery system Up to 2 batteries; 1 user-replaceable, 1 internal Multiple user input devices available for control of the arm DEKA Integrated Solutions - Proprietary 10
11 Hand and Wrist Module Wrist Flexor User Interface Wrist Rotator Powered Thumb and Fingers Master Computer DEKA Integrated Solutions - Proprietary 11
12 Elbow Module Optional Internal Battery Humeral Rotator Elbow Flexor DEKA Integrated Solutions - Proprietary 12
13 Shoulder Module Tightly Integrated Shoulder Flexor and Abductor DEKA Integrated Solutions - Proprietary 13
14 User Input Devices User input devices are either wired to an input module or connect wirelessly to the arm Industry-standard digital or analog input devices can be used such as: Surface Electromyography (EMG) sensors Detect muscle contractions Pull switches Linear transducers Bump switches Force sensing resistors DEKA-designed input devices: Pressure transducer with analog output Inertial measurement unit (IMU) DEKA Integrated Solutions - Proprietary 14
15 Arm Demo DEKA Integrated Solutions - Proprietary 15
16 External References Wikipedia, University of California Irvine, biorobotics.eng.uci.edu Carnegie Mellon University, Boston Dynamics, DARPA, DEKA Integrated Solutions - Proprietary 16
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