prosthetic hands
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2021 ◽  
Vol 15 ◽  
Author(s):  
Qi Luo ◽  
Chuanxin M. Niu ◽  
Chih-Hong Chou ◽  
Wenyuan Liang ◽  
Xiaoqian Deng ◽  
...  

The human hand has compliant properties arising from muscle biomechanics and neural reflexes, which are absent in conventional prosthetic hands. We recently proved the feasibility to restore neuromuscular reflex control (NRC) to prosthetic hands using real-time computing neuromorphic chips. Here we show that restored NRC augments the ability of individuals with forearm amputation to complete grasping tasks, including standard Box and Blocks Test (BBT), Golf Balls Test (GBT), and Potato Chips Test (PCT). The latter two were more challenging, but novel to prosthesis tests. Performance of a biorealistic controller (BC) with restored NRC was compared to that of a proportional linear feedback (PLF) controller. Eleven individuals with forearm amputation were divided into two groups: one with experience of myocontrol of a prosthetic hand and another without any. Controller performances were evaluated by success rate, failure (drop/break) rate in each grasping task. In controller property tests, biorealistic control achieved a better compliant property with a 23.2% wider range of stiffness adjustment than that of PLF control. In functional grasping tests, participants could control prosthetic hands more rapidly and steadily with neuromuscular reflex. For participants with myocontrol experience, biorealistic control yielded 20.4, 39.4, and 195.2% improvements in BBT, GBT, and PCT, respectively, compared to PLF control. Interestingly, greater improvements were achieved by participants without any myocontrol experience for BBT, GBT, and PCT at 27.4, 48.9, and 344.3%, respectively. The functional gain of biorealistic control over conventional control was more dramatic in more difficult grasp tasks of GBT and PCT, demonstrating the advantage of NRC. Results support the hypothesis that restoring neuromuscular reflex in hand prosthesis can improve neural motor compatibility to human sensorimotor system, hence enabling individuals with amputation to perform delicate grasps that are not tested with conventional prosthetic hands.


2021 ◽  
Author(s):  
Julio Fajardo ◽  
Diego Cardona ◽  
Guillermo Maldonado ◽  
Victor Ferman ◽  
Eric Rohmer

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Patricia Capsi-Morales ◽  
Cristina Piazza ◽  
Manuel G. Catalano ◽  
Giorgio Grioli ◽  
Lisa Schiavon ◽  
...  

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.


Author(s):  
Cathrine Widehammar ◽  
Ayako Hiyoshi ◽  
Kajsa Lidström Holmqvist ◽  
Helen Lindner ◽  
Liselotte Hermansson

Objective: To evaluate the effect of multi-grip myoelectric prosthetic hands on performance of daily activities, pain-related disability and prosthesis use, in comparison with single-grip myoelectric prosthetic hands. Design: Single-case AB design. Patients: Nine adults with upper-limb loss participated in the study. All had previous experience of single-grip myoelectric prostheses and were prescribed a prosthesis with multi-grip functions. Methods: To assess the changes in daily activities, pain-related disability and prosthesis use between single-grip and multi-grip myoelectric prosthetic hands, the Canadian Occupational Performance Measure, Pain Disability Index, and prosthesis wearing time were measured at multiple time-points. Visual assessment of graphs and multi-level linear regression were used to assess changes in the outcome measures. Results: At 6 months’ follow-up self-perceived performance and satisfaction scores had increased, prosthesis wearing time had increased, and pain-related disability had reduced in participants with musculoskeletal pain at baseline. On average, 8 of the 11 available grip types were used. Most useful were the power grip, tripod pinch and lateral pinch. Conclusion: The multi-grip myoelectric prosthetic hand has favourable effects on performance of, and satisfaction with, individually chosen activities, prostheses use and pain-related disability. A durable single-grip myoelectric prosthetic hand may still be needed for heavier physical activities. With structured training, a standard 2-site electrode control system can be used to operate a multi-grip myoelectric prosthetic hand.


2021 ◽  
Vol 15 ◽  
Author(s):  
Geng Gao ◽  
Mojtaba Shahmohammadi ◽  
Lucas Gerez ◽  
George Kontoudis ◽  
Minas Liarokapis

Over the last decade underactuated, adaptive robot grippers and hands have received an increased interest from the robotics research community. This class of robotic end-effectors can be used in many different fields and scenarios with a very promising application being the development of prosthetic devices. Their suitability for the development of such devices is attributed to the utilization of underactuation that provides increased functionality and dexterity with reduced weight, cost, and control complexity. The most critical components of underactuated, adaptive hands that allow them to perform a broad set of grasp poses are appropriate differential mechanisms that facilitate the actuation of multiple degrees of freedom using a single motor. In this work, we focus on the design, analysis, and experimental validation of a four output geared differential, a series elastic differential, and a whiffletree differential that can incorporate a series of manual and automated locking mechanisms. The locking mechanisms have been developed so as to enhance the control of the differential outputs, allowing for efficient grasp selection with a minimal set of actuators. The differential mechanisms are applied to prosthetic hands, comparing them and describing the benefits and the disadvantages of each.


2021 ◽  
Vol 14 (2) ◽  
pp. 87-94
Author(s):  
Triwiyanto Triwiyanto ◽  
Torib Hamzah ◽  
Sari Luthfiyah ◽  
Bedjo Utomo

The target for this community service program is a resident of Jl. Parikesit RT 05 RW 03 Dusun Picis, Balongdowo Village, Candi District, Sidoarjo Regency. He had a work accident in one of the industries in the city of Sidoarjo in 2010 on the left wrist up to the fingers, so the doctor suggested amputation. He is actually still in his productive age (36 years old) but because of this situation, he is unable to carry out activities in the world of work and has decreased confidence in himself and avoids socializing in society. The purpose of this community partnership program (PKM) activity is to apply 3d printing technology in the manufacture of prosthetic hands for people who have transradial amputations as an effort to improve the quality of life. The implementation methods used are: a) the measurement of several physical parameters on the amputee such as the diameter of the arm circumference, the length of the amputated part, weight and height. In addition to physical parameters, we also carry out medical measurements, including obtaining information on health conditions such as blood pressure, heart health and blood glucose levels, b) designing prosthetic hands using 3D application programs and 3D printers, c) mechanical and functional testing for perform basic movements in the form of opening and closing the palms, d) monitoring and evaluation of the use of prosthetic hands. The results obtained from this activity are that the patient can use the prosthetic hand to assist with activities in carrying out daily activities. In this PKM activity, amputees have been tested, namely the movement of holding a mineral water bottle, holding a banana, peeling a banana peel and driving a two-wheeled motorized vehicle. Monitoring shows that patients need regular exercise in using prosthetic hands so that they are able to control and condition their use. In the future, several developments can be made, including in terms of control and size of the prosthetic hand so that patients can feel the benefits of a prosthetic hand that functions like a normal hand.


Author(s):  
Javier Andrés-Esperanza ◽  
Jose L. Iserte-Vilar ◽  
Immaculada Llop-Harillo ◽  
Antonio Pérez-González
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