Prosthetic Arm — Interactive Simulation

Prosthetic Arm — Interactive Simulation

Synthetic demo • educational

Sound Speed

Mode: manual

DOF: 3

Controls: drag wheel ←/→ space

Joint controls

Metrics

Grip force

0 N

End effector

(0,0)

Demo actions

Shortcuts: space=play/pause, d=toggle demo

Overview — This is an educational simulation of a 4-DOF prosthetic arm that demonstrates key concepts in robotic manipulation. The system models shoulder rotation, elbow flexion/extension, wrist pitch, and a gripper mechanism. The simulation uses forward kinematics for joint control and provides real-time visual feedback of the arm's state.

Technical Parameters — • Degrees of Freedom (DOF): 4 total (shoulder yaw ±90°, elbow pitch 0-140°, wrist pitch ±90°, gripper 0-100%) • Kinematics: Forward kinematics with sequential joint transformations • Visualization: Real-time rendering with joint highlighting and interactive gripper animation • Control System: Direct joint angle control with smooth interpolation • Audio Feedback: Optional sonification of movement velocity (pitch-mapped)

How to use — • View Control: Drag the canvas background to rotate the view • Joint Control: Click and drag near any joint (highlighted when active) to adjust its angle • Gripper Control: Use the gripper slider or demo mode to open/close the end effector • Keyboard: ←/→ to adjust the last active joint • Demo Mode: space to pause/play, d to toggle demo sequence • Fine Control: Use UI sliders for precise angle adjustment • Speed: Adjust simulation speed with the speed slider

Future Directions — • Enhanced Input Methods: Integration of EMG (electromyography) signals for natural control • Advanced Mechanics: Physics-based collision detection and object interaction • Interactive Demos: Ball-catching challenges and dynamic object tracking scenarios • Sensor Integration: Virtual force sensors and haptic feedback simulation • Machine Learning: Data collection for training prosthetic control models • Extended DOF: Additional joints for finger articulation and complex manipulation • Real-time Constraints: Joint velocity and acceleration limits • Environment Interaction: Grasp stability metrics and object manipulation tasks • Training Module: Interactive exercises for prosthetic control learning