Many kinds of powered upper extremity prostheses with multi-degree-of-freedom have been studied and developed. However, in daily life, there are few upper extremity prostheses which the handicapped can use. In the superior limits of weight and size, the prostheses with multi-degree-of-freedom and multi-functions are requested by the handicapped. To achieve this, the authors tried to develop a prosthesis which imitates the human arm. The prosthesis is made up of internal frames, quasi-ligaments and quasi-muscles. Therefore it can be made light and compact like a human arm, and it can move more naturally than other mechanical prostheses. The design concept, method and trial production of the prosthesis are presented.
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