To improve the shoulder disarticulation prosthesis for single arm amputee, aesthetic, user-friendliness, and light-weight device is expected. This paper proposes a joint mechanism design with shape memory alloy(SMA)actuator system as a solution to the challenge. Our prosthetic arm is designed for cooperative work in drafting action, where the prosthetic arm works stationary holding the ruler. We set the arm's specification by tracking the movable range of the arm holding the drafting ruler on the table. From this analysis, we propose a passive type hybrid prosthetic arm. The locking mechanism of the joint system is activated by the recuperative strength of the SMA. A forced-cooling operation for the thermal control of the SMA wire is discussed to improve the repeatability of the joint mechanism control. The experimental result showed that the system cuts40% of the cooling term for the joint positioning and improves the usability of the prosthetic arm. A control system for the SMA joint mechanism is presented to be mounted in the arm.
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