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Author(s):

N Mansoor Basha | N Abhivishnu Naik | G Kiranmai | P Ugandhar
Keywords:

Assistive Robotics, Upper-limb Paralysis, FDM 3D Printing, Modular Design, Arduino Control, Actuation Systems.
Abstract:
This Paper Presents The Design, Fabrication, And Experimental Evaluation Of A Lightweight, Modular Robotic Supporting Arm Developed To Assist Individuals With Upper-limb Paralysis. To Balance Affordability And Structural Integrity, The Prototype Was Constructed Using Fused Deposition Modeling (FDM) 3D-printed Polylactic Acid (PLA) Components, Driven By Servo And DC Actuators, And Controlled Via An Arduino Uno Architecture. The Fabricated Assembly Features An Total Mass Of [Insert Weight] And Exhibits High Manufacturing Precision With A Dimensional Accuracy Of $\approx 0.2\text{ Mm}$. Electromechanical Evaluations Demonstrated That The Robotic Arm Achieves $\approx 120^\circ$ Of Elbow Flexion And $\approx 90^\circ$ Of Wrist Articulation. Functional Testing Under Loaded Conditions Confirmed Smooth Operational Kinematics And Repeatable Trajectory Tracking, With Minor Structural Deformation Observed During Prolonged Continuous Stress. Finally, We Discuss Critical Design Optimizations, Current System Limitations, And Future Work, Which Includes Transitioning To High-torque Actuation, Substituting Materials With PETG Or Aluminum Alloys, And Conducting Clinical User Trials.