Arm prosthetic device

A prosthetic arm apparatus comprising:

• a plurality of interconnected segments arranged adjacent to one another from a first segment to a final segment, each segment of the plurality of interconnected segments having:
• an input interface;
• an output interface;
• and
• at least one actuator disposed within the segment between the input interface and the output interface, the at least one actuator driving the output interface through a drive system to cause relative movement in at least one degree of freedom between the input interface and the output interface when actuated such that each segment of the plurality of segments operates independently of each of the other segments of the plurality of interconnected segments;
• wherein one segment of the plurality of segments includes a non-backdriving clutch disposed in the drive system between the at least one actuator and the output interface, the non-backdriving clutch comprising:
• an output hex connected to the output interface of the one segment;
• an input cage connected to the at least one actuator;
• a clutch race constraining the input cage and the output hex;
• and
• a plurality of roller bearings disposed within the clutch race around a periphery of the output hex at an interface between the output hex and the input cage;
• wherein the non-backdriving clutch transfers power from the at least one actuator to the output interface of the one segment when the actuator is actuated to generate movement of the output interface in either of two opposing directions and prevents backward transfer of power from the output interface to the at least one actuator of the one segment in both of the two opposing directions by an engagement of the output hex against the roller bearings and clutch race;
• wherein the at least one degree of freedom of movement of each segment of the plurality of segments provides the prosthetic arm apparatus with a movement capability in a degree of freedom that correspond to a degree of freedom of movement of a human arm.