Bionic Technology in Prosthetics: Multi-Objective Optimization of a Bioinspired Shoulder-Elbow Prosthesis with Embedded Actuation

The development of upper-limb prostheses is often hindered by limited dexterity, a restricted workspace, and bulky designs, primarily due to performance limitations in proximal joints like the shoulder and elbow, which contribute to high user abandonment rates. To overcome these challenges, this paper presents a novel, bioinspired, and integrated prosthetic system as an advancement in bionic technology. The design incorporates a shoulder joint based on an asymmetric 3-RRR spherical parallel mechanism (SPM) with actuators embedded within the moving platform, and an elbow joint actuated by low-voltage Shape Memory Alloy (SMA) springs. The inverse kinematics of the shoulder mechanism was established, revealing the existence of up to eight configurations. We employed Multi-Objective Particle Swarm Optimization (MOPSO) to simultaneously maximize workspace coverage, enhance dexterity, and minimize joint torque. The optimized design achieves remarkable performance: (1) 85% coverage of the natural shoulder's workspace; (2) a maximum von Mises stress of merely 3.4 MPa under a 40 N load, ensuring structural integrity; and (3) a sub-0.2 s response time for the SMA-driven elbow under low-voltage conditions (6 V) at a motion velocity of 6°/s. Both motion simulation and prototype testing validated smooth and anthropomorphic motion trajectories. This work provides a comprehensive framework for developing lightweight, high-performance prosthetic limbs, establishing a solid foundation for next-generation wearable robotics and bionic devices. Future research will focus on the integration of neural interfaces for intuitive control.