scholarly journals Anthropomorphism Index of Mobility for Artificial Hands

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Immaculada Llop-Harillo ◽  
Antonio Pérez-González ◽  
Verónica Gracia-Ibáñez
Keyword(s):  
Activities Of Daily Living ◽  
Design Process ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Dominant Hand ◽  
Robotic Hands ◽  
Prosthetic Hands ◽  
Human Likeness ◽  
Artificial Hand ◽  
Bimanual Grasping

The increasing development of anthropomorphic artificial hands makes necessary quick metrics that analyze their anthropomorphism. In this study, a human grasp experiment on the most important grasp types was undertaken in order to obtain an Anthropomorphism Index of Mobility (AIM) for artificial hands. The AIM evaluates the topology of the whole hand, joints and degrees of freedom (DoFs), and the possibility to control these DoFs independently. It uses a set of weighting factors, obtained from analysis of human grasping, depending on the relevance of the different groups of DoFs of the hand. The computation of the index is straightforward, making it a useful tool for analyzing new artificial hands in early stages of the design process and for grading human-likeness of existing artificial hands. Thirteen artificial hands, both prosthetic and robotic, were evaluated and compared using the AIM, highlighting the reasons behind their differences. The AIM was also compared with other indexes in the literature with more cumbersome computation, ranking equally different artificial hands. As the index was primarily proposed for prosthetic hands, normally used as nondominant hands in unilateral amputees, the grasp types selected for the human grasp experiment were the most relevant for the human nondominant hand to reinforce bimanual grasping in activities of daily living. However, it was shown that the effect of using the grasping information from the dominant hand is small, indicating that the index is also valid for evaluating the artificial hand as dominant and so being valid for bilateral amputees or robotic hands.

scholarly journals Comparison between rigid and soft poly-articulated prosthetic hands in non-expert myo-electric users shows advantages of soft robotics

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Patricia Capsi-Morales ◽  
Cristina Piazza ◽  
Manuel G. Catalano ◽  
Giorgio Grioli ◽  
Lisa Schiavon ◽  
...  
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Comprehensive Evaluation ◽  
Real Life ◽  
Soft Robotics ◽  
User Perception ◽  
Robotic Hands ◽  
Prosthetic Hands ◽  
Emerging Trends ◽  
Functional Assessments

AbstractNotwithstanding the advancement of modern bionic hands and the large variety of prosthetic hands in the market, commercial devices still present limited acceptance and percentage of daily use. While commercial prostheses present rigid mechanical structures, emerging trends in the design of robotic hands are moving towards soft technologies. Although this approach is inspired by nature and could be promising for prosthetic applications, there is scant literature concerning its benefits for end-users and in real-life scenarios. In this work, we evaluate and assess the role and the benefits of soft robotic technologies in the field of prosthetics. We propose a thorough comparison between rigid and soft characteristics of two poly-articulated hands in 5 non-expert myo-electric prosthesis users in pre- and post-therapeutic training conditions. The protocol includes two standard functional assessments, three surveys for user-perception, and three customized tests to evaluate the sense of embodiment. Results highlight that rigid hands provide a more precise grasp, while soft properties show higher functionalities thanks to their adaptability to different requirements, intuitive use and more natural execution of activities of daily living. This comprehensive evaluation suggests that softness could also promote a quick integration of the system in non-expert users.

A pediatric robotic thumb exoskeleton for at-home rehabilitation

2014 ◽  
Vol 7 (3) ◽  
pp. 233-252 ◽  
Author(s):  
Patrick Aubin ◽  
Kelsey Petersen ◽  
Hani Sallum ◽  
Conor Walsh ◽  
Annette Correia ◽  
...  
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Hand Function ◽  
Maximum Efficiency ◽  
Fine Motor ◽  
Content Type ◽  
Flexion Extension ◽  
Linear Force ◽  
At Home

Purpose – Pediatric disorders, such as cerebral palsy and stroke, can result in thumb-in-palm deformity greatly limiting hand function. This not only limits children's ability to perform activities of daily living but also limits important motor skill development. Specifically, the isolated orthosis for thumb actuation (IOTA) is 2 degrees of freedom (DOF) thumb exoskeleton that can actuate the carpometacarpal (CMC) and metacarpophalangeal (MCP) joints through ranges of motion required for activities of daily living. The paper aims to discuss these issues. Design/methodology/approach – IOTA consists of a lightweight hand-mounted mechanism that can be secured and aligned to individual wearers. The mechanism is actuated via flexible cables that connect to a portable control box. Embedded encoders and bend sensors monitor the 2 DOF of the thumb and flexion/extension of the wrist. A linear force characterization was performed to test the mechanical efficiency of the cable-drive transmission and the output torque at the exoskeletal CMC and MCP joints was measured. Findings – Using this platform, a number of control modes can be implemented that will enable the device to be controlled by a patient to assist with opposition grasp and fine motor control. Linear force and torque studies showed a maximum efficiency of 44 percent, resulting in a torque of 2.39±1.06 in.-lbf and 0.69±0.31 in.-lbf at the CMC and MCP joints, respectively. Practical implications – The authors envision this at-home device augmenting the current in-clinic and at-home therapy, enabling telerehabilitation protocols. Originality/value – This paper presents the design and characterization of a novel device specifically designed for pediatric grasp telerehabilitation to facilitate improved functionality and somatosensory learning.

Design of a Novel Multifunctional Rehabilitation Aid Based on Ergonomics

2011 ◽  
Vol 308-310 ◽  
pp. 943-946
Author(s):  
Jian Guo Zhang ◽  
He Rong Liu
Keyword(s):  
Activities Of Daily Living ◽  
Design Process ◽  
Daily Living ◽  
Self Care ◽  
Motion Simulation ◽  
Concept Design ◽  
Disabled People ◽  
Rehabilitation Training ◽  
Overall Design ◽  
The Disabled

A novel aid with self-care and rehabilitation function has been designed based on ergonomics, according to the functional demand of ADL (Activities of Daily Living) and the requirements of rehabilitation training for disabled people or elderly. The overall design process and the main functions of the aid were introduced in this paper. Its concept design and motion simulation is finished by using Pro/E software. The aid can meet the ADL demand of the disabled people and elderly such as getting up, going to the toilet etc.

scholarly journals DESIGN AND USE OF ROBOTS TO ASSIST OLDER ADULTS WITH HEALTHCARE TASKS

2019 ◽  
Vol 3 (Supplement_1) ◽  
pp. S32-S32
Author(s):  
Wendy Rogers ◽  
Megan Bayles
Keyword(s):  
Older Adults ◽  
Activities Of Daily Living ◽  
Design Process ◽  
Daily Living ◽  
Summative Evaluation ◽  
Everyday Activities

Abstract There is much potential for robots to support the needs of older adults, in general, and particularly in healthcare. Older adults are quite open to the idea of interacting with robots, although they have preferences for the nature of the task they want the robot to do as well as what they want the robot to look like. These preferences should be considered in the process of design and deployment. Older adults should be involved throughout the design process from formative to summative evaluation and even beyond to the integration of the robot into their everyday activities. The extant research provides guidance regarding older adults’ capabilities and limitations that might influence their ability to interact with a robot. Our goal in this presentation will be to focus on robots being designed to support older adults with healthcare tasks in the context of enhanced, instrumental, and basic activities of daily living.

Design of a Wheelchair Robot for Active Postural Support

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Rosemarie C. Murray ◽  
Chawin Ophaswongse ◽  
Sunil K. Agrawal
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Dynamic Range ◽  
Sagittal Plane ◽  
Control Architecture ◽  
Lateral Bending ◽  
Robotic Exoskeleton ◽  
Postural Support ◽  
And Control

This paper describes the design and control architecture of a novel wheelchair-mounted robot for active postural support (WRAPS). The WRAPS is a robotic exoskeleton that allows limited degrees-of-freedom of the trunk relative to the pelvis. There are three degrees-of-freedoms in the sagittal plane of the human body and one in lateral bending. The work is motivated by the needs of individuals with impaired trunk motor control, who currently rely on the use of passive and predominantly static supports to maintain a static posture. These devices can be overly restrictive and inhibit the user in their activities of daily living. The WRAPS is capable of supporting a human user within their active range of torso motion. It has the potential to assist users in their activities of daily living while encouraging a dynamic range of healthy postures.

INTERSEGMENTAL COORDINATION IN LOWER EXTREMITIES AND MULTI-SEGMENTAL SPINE DURING DIFFERENT ACTIVITIES OF DAILY LIVING

2017 ◽  
Vol 17 (07) ◽  
pp. 1740015
Author(s):  
DAIQI GUO ◽  
SHENGZHENG KUAI ◽  
WENYU ZHOU ◽  
XINYU GUAN ◽  
ZHENHUA LIAO ◽  
...  
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Sagittal Plane ◽  
Principal Component ◽  
Human Movement ◽  
Stair Climbing ◽  
Motion Pattern ◽  
Level Walking ◽  
Lower Lumbar

Background: Human movement consists of numerous degrees of freedom (DOF). How the nervous system (NS) computes the appropriate command to coordinate these DOFs to finish specific tasks is still hotly debated. One common way to simplify the redundant DOFs is to coordinate multiple DOFs by combining them into units or synergies. The present study aimed to investigate the kinematic complexity of five activities of daily living (ADLs) and to detect the amount of kinematic synergy during every ADL and the relationship of the motion pattern between these ADLs. Method: Twenty-six able-bodied male individuals performed level walking, stair climbing, trunk bending, ipsilateral pick-up and contralateral pick-up in sequence. The segmental excursion of the thorax, upper lumbar, lower lumbar, pelvis, thigh and shank was calculated. Principal component analysis (PCA) was applied to determine the motion pattern of every ADL. Result: In the sagittal plane, trunk bending, ipsilateral pick-up and contralateral pick-up could be simplified by using one principal component (PC) with more than 95% variance accounted for (VAF). In addition, the motion pattern of every PC was similar among the three ADLs. Moreover, the angles between the vectors representing the first PC of the three ADLs were all less than 10[Formula: see text]. Level walking and stair climbing needed at least two PCs to reach 95% VAF. In addition, the motion pattern was different between the two ADLs. Moreover, the angle between the first PC of the two ADLs was around 90[Formula: see text]. In the coronal plane, the five ADLs except contralateral pick-up arrived at 90% VAF with two PCs. The motion pattern and the angle between the first PC both demonstrated larger differences among the five ADLs. Conclusion: Two PCs were essential to represent level walking and stair climbing, indicating a complex control strategy used by the NS. Trunk bending, ipsilateral pick-up and contralateral pick-up could be described with one PC in the sagittal plane, showing a strong coupling and simple motion pattern. In addition, the motion pattern varied considerably among these ADLs. The outcomes of this study can help clinicians to select suitable ADLs for the patients with various joint or disc diseases and to conduct corresponding functional test and rehabilitation.

Handgrip Strength Asymmetry Is Associated With Limitations in Individual Basic Self-Care Tasks

2020 ◽  
pp. 073346482098240
Author(s):  
Sean J. Mahoney ◽  
Kyle J. Hackney ◽  
Donald A. Jurivich ◽  
Lindsey J. Dahl ◽  
Carol Johnson ◽  
...  
Keyword(s):  
Confidence Interval ◽  
Activities Of Daily Living ◽  
Daily Living ◽  
Handgrip Strength ◽  
Self Care ◽  
Health And Retirement Study ◽  
Dominant Hand ◽  
Strength Asymmetry ◽  
Retirement Study

This investigation sought to determine the associations between handgrip strength (HGS) asymmetries and limitations in individual activities of daily living (ADL). The analytic sample included 18,468 participants from the 2006 to 2016 waves of the Health and Retirement Study. Those with HGS >10% stronger on either hand had any HGS asymmetry. Individuals with HGS >10% stronger on their dominant or non-dominant hand had dominant or non-dominant HGS asymmetry, respectively. ADL abilities were self-reported. Those with any HGS asymmetry had 1.21 (95% confidence interval [CI] = [1.01–1.46]) greater odds for a toileting limitation and 1.25 (CI = [1.03–1.52]) greater odds for a transferring limitation. Individuals with dominant HGS asymmetry had 1.24 (CI = [1.01–1.53]) greater odds for a transferring limitation. Those with non-dominant HGS asymmetry had 1.39 (CI = [1.01–1.93]) and 1.44 (CI = [1.05–1.96]) greater odds for a bathing and toileting limitation, respectively. HGS asymmetries could help to identify future limitations in specific ADLs.

Return to Functional Hand Use and Work Following Open Carpal Tunnel Surgery

2005 ◽  
Vol 30 (6) ◽  
pp. 607-610 ◽  
Author(s):  
A. D. ACHARYA ◽  
J. M. AUCHINCLOSS
Keyword(s):  
Activities Of Daily Living ◽  
Carpal Tunnel ◽  
Symptom Severity ◽  
Daily Living ◽  
Dominant Hand ◽  
Additional Information ◽  
Validated Questionnaire ◽  
Carpal Tunnel Surgery ◽  
And Function ◽  
Open Carpal Tunnel Surgery

This study assessed recovery from open carpal tunnel surgery. One hundred and twelve operations in 75 patients (38 unilateral, 37 bilateral) were reviewed prospectively. A validated questionnaire was completed pre- and postoperatively. Additional information was collected regarding symptom severity at regular intervals following surgery. The time to regain all evaluated activities of daily living was 13 (range 1–90, median 7) days. Return to driving took 9 days and return to work 17 days, even although exactly half of the patients underwent simultaneous bilateral operations. We did not find any significant differences in the time to resumption of activities of daily living or work between the patients who underwent unilateral or bilateral procedures, or between those who underwent surgery to the dominant or non-dominant hand. Overall improvement in symptoms and function was no worse in patients undergoing simultaneous bilateral procedures as compared with unilateral procedures.

Autonomous Control and Simulation of a Wheelchair Mounted Robotic Arm Performing Activities of Daily Living Tasks

2009 ◽  
Author(s):  
Fabian Farelo ◽  
Redwan Alqasemi ◽  
Rajiv Dubey
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Robotic Arm ◽  
Servo Drive ◽  
Control Scheme ◽  
And Performance ◽  
Mobility Impaired ◽  
Wheelchair Mounted Robotic Arm

A wheelchair-mounted robotic arm was designed and developed to enhance the capabilities of mobility-impaired persons with limited upper extremities limitations exceeding previous models specifications and performance [1]. The major enhancements of the wheelchair’s mechanical design are the incorporation of DC servo drive with encoders at each individual joint. The arm has seven degrees of freedom (DoF) and is side-mounted on a power wheelchair (fig 1). The control system allows coordinated Cartesian control, and offers expandability for research in combined mobility and manipulation. This paper discusses the control scheme and a virtual simulation of the existing WMRA prototype performing several activities of daily living.

The Hannes hand prosthesis replicates the key biological properties of the human hand

2020 ◽  
Vol 5 (46) ◽  
pp. eabb0467
Author(s):  
M. Laffranchi ◽  
N. Boccardo ◽  
S. Traverso ◽  
L. Lombardi ◽  
M. Canepa ◽  
...  
Keyword(s):  
Daily Living ◽  
High Performance ◽  
Degrees Of Freedom ◽  
Biological Properties ◽  
Human Hand ◽  
Pilot Trials ◽  
Before And After ◽  
Human Likeness ◽  
Improved Performance ◽  
Industrial Designers

Replacing the human hand with artificial devices of equal capability and effectiveness is a long-standing challenge. Even the most advanced hand prostheses, which have several active degrees of freedom controlled by the electrical signals of the stump’s residual muscles, do not achieve the complexity, dexterity, and adaptability of the human hand. Thus, prosthesis abandonment rate remains high due to poor embodiment. Here, we report a prosthetic hand called Hannes that incorporates key biomimetic properties that make this prosthesis uniquely similar to a human hand. By means of an holistic design approach and through extensive codevelopment work involving researchers, patients, orthopaedists, and industrial designers, our proposed device simultaneously achieves accurate anthropomorphism, biomimetic performance, and human-like grasping behavior that outperform what is required in the execution of activities of daily living (ADLs). To evaluate the effectiveness and usability of Hannes, pilot trials on amputees were performed. Tests and questionnaires were used before and after a period of about 2 weeks, in which amputees could autonomously use Hannes domestically to perform ADLs. Last, experiments were conducted to validate Hannes’s high performance and the human likeness of its grasping behavior. Although Hannes’s speed is still lower than that achieved by the human hand, our experiments showed improved performance compared with existing research or commercial devices.

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