Human-centered Electric Prosthetic (HELP) Hand

Through a partnership with Indian non-profit Bhagwan Mahaveer Viklang Sahayata Samiti, we designed a functional, robust, and and low cost electrically powered prosthetic hand that communicates with unilateral, transradial, urban Indian amputees through a biointerface. The device uses compliant tendon actuation, a small linear servo, and a wearable garment outfitted with flex sensors to produce a device that, once placed inside a prosthetic glove, is anthropomorphic in both look and feel. The prosthesis was developed such that future groups can design for manufacturing and distribution in India

On Neuromechanical Approaches for the Study of Biological Grasp and Manipulation

Biological and robotic grasp and manipulation are undeniably similar at the level of mechanical task performance. However, their underlying fundamental biological vs. engineering mechanisms are, by definition, dramatically different and can even be antithetical. Even our approach to each is diametrically opposite: inductive science for the study of biological systems vs. engineering synthesis for the design and construction of robotic systems. The past 20 years have seen several conceptual advances in both fields and the quest to unify them. Chief among them is the reluctant recognition that their underlying fundamental mechanisms may actually share limited common ground, while exhibiting many fundamental differences. This recognition is particularly liberating because it allows us to resolve and move beyond multiple paradoxes and contradictions that arose from the initial reasonable assumption of a large common ground. Here, we begin by introducing the perspective of neuromechanics, which emphasizes that real-world behavior emerges from the intimate interactions among the physical structure of the system, the mechanical requirements of a task, the feasible neural control actions to produce it, and the ability of the neuromuscular system to adapt through interactions with the environment. This allows us to articulate a succinct overview of a few salient conceptual paradoxes and contradictions regarding under-determined vs. over-determined mechanics, under- vs. over-actuated control, prescribed vs. emergent function, learning vs. implementation vs. adaptation, prescriptive vs. descriptive synergies, and optimal vs. habitual performance. We conclude by presenting open questions and suggesting directions for future research. We hope this frank assessment of the state-of-the-art will encourage and guide these communities to continue to interact and make progress in these important areas

Porous Titanium Cylinders Obtained by the Freeze-Casting Technique: Influence of Process Parameters on Porosity and Mechanical Behavior

 The discrepancy between the stiffness of commercially pure titanium and cortical bone  tissue compromises its success as a biomaterial. The use of porous titanium has been widely studied,  however, it is still challenging to obtain materials able to replicate the porous structure of the bones  (content, size, morphology and distribution). In this work, the freeze‐casting technique is used to  manufacture cylinders with elongated porosity, using a home‐made and economical device. The  relationship between the processing parameters (diameter and material of the mold, temperature  gradient), microstructural features and mechanical properties is established and discussed, in terms  of ensuring biomechanical and biofunctional balance. The cylinders have a gradient porosity  suitable for use in dentistry, presenting higher Young’s modulus at the bottom, near the cold spot  and, therefore better mechanical resistance (it would be in contact with a prosthetic crown), while  the opposite side, the hot spot, has bigger, elongated pores and walls.  Ministry of Economy and Competitiveness of Spain  grant  MAT2015‐71284‐P  FEDER‐Junta de Andalucía Research  Project (Modeling and implementation of the freeze casting technique: gradients of porosity with a tribomechanical equilibrium and electro‐stimulated cellular behavior).

Advancing the Underactuated Grasping Capabilities of Single Actuator Prosthetic Hands

The last decade has seen significant advancements in upper limb prosthetics, specifically in the myoelectric control and powered prosthetic hand fields, leading to more active and social lifestyles for the upper limb amputee community. Notwithstanding the improvements in complexity and control of myoelectric prosthetic hands, grasping still remains one of the greatest challenges in robotics. Upper-limb amputees continue to prefer more antiquated body-powered or powered hook terminal devices that are favored for their control simplicity, lightweight and low cost; however, these devices are nominally unsightly and lack in grasp variety. The varying drawbacks of both complex myoelectric and simple body-powered devices have led to low adoption rates for all upper limb prostheses by amputees, which includes 35% pediatric and 23% adult rejection for complex devices and 45% pediatric and 26% adult rejection for body-powered devices [1]. My research focuses on progressing the grasping capabilities of prosthetic hands driven by simple control and a single motor, to combine the dexterous functionality of the more complex hands with the intuitive control of the more simplistic body-powered devices with the goal of helping upper limb amputees return to more active and social lifestyles. Optimization of a prosthetic hand driven by a single actuator requires the optimization of many facets of the hand. This includes optimization of the finger kinematics, underactuated mechanisms, geometry, materials and performance when completing activities of daily living. In my dissertation, I will present chapters dedicated to improving these subsystems of single actuator prosthetic hands to better replicate human hand function from simple control. First, I will present a framework created to optimize precision grasping – which is nominally unstable in underactuated configurations – from a single actuator. I will then present several novel mechanisms that allow a single actuator to map to higher degree of freedom motion and multiple commonly used grasp types. I will then discuss how fingerpad geometry and materials can better grasp acquisition and frictional properties within the hand while also providing a method of fabricating lightweight custom prostheses. Last, I will analyze the results of several human subject testing studies to evaluate the optimized hands performance on activities of daily living and compared to other commercially available prosthesis

Accuracy and Precision of Occlusal Contacts of Stereolithographic Casts Mounted by Digital Interocclusal Registrations

Statement of problem Little peer-reviewed information is available regarding the accuracy and precision of the occlusal contact reproduction of digitally mounted stereolithographic casts. Purpose The purpose of this in vitro study was to evaluate the accuracy and precision of occlusal contacts among stereolithographic casts mounted by digital occlusal registrations. Material and methods Four complete anatomic dentoforms were arbitrarily mounted on a semi-adjustable articulator in maximal intercuspal position and served as the 4 different simulated patients (SP). A total of 60 digital impressions and digital interocclusal registrations were made with a digital intraoral scanner to fabricate 15 sets of mounted stereolithographic (SLA) definitive casts for each dentoform. After receiving a total of 60 SLA casts, polyvinyl siloxane (PVS) interocclusal records were made for each set. The occlusal contacts for each set of SLA casts were measured by recording the amount of light transmitted through the interocclusal records. To evaluate the accuracy between the SP and their respective SLA casts, the areas of actual contact (AC) and near contact (NC) were calculated. For precision analysis, the coefficient of variation (CoV) was used. The data was analyzed with t tests for accuracy and the McKay and Vangel test for precision (α=.05). Results The accuracy analysis showed a statistically significant difference between the SP and the SLA cast of each dentoform (PPP Conclusions For the accuracy evaluation, statistically significant differences were found between the occlusal contacts of all digitally mounted SLA casts groups, with an increase in AC values and a decrease in NC values. For the precision assessment, the CoV values of the AC and NC showed the digitally articulated cast’s inability to reproduce the uniform occlusal contacts

Project MAXWELL: Towards Rapid Realization of Superior Products

We describe a new methodology for the design and manufacture of mechanical components. The methodology is a synergism of a new, mathematically rigorous procedure for the concurrent design of shape and material composition of components, and a new manufacturing process called MD* for their realization. The concurrent design strategy yields information about the global shape of the component and its material composition. The fabrication of such designs with novel microstructural configurations require unconventional manufacturing processes. MD* is a shape deposition process for the free-form fabrication of parts from single or composite materials and is ideally suited for realizing the aforementioned designs. Project MAXWELL, therefore, promotes the use of layered manufacturing beyond prototyping tasks and offers the possibility of their integration into the mainstream product development and fabrication process..Mechanical Engineerin

Controlled Local Properties in the Same Part with Sintaflex A New Elastomer Powder Material for the SLS Process

A new powder material for the SLS (Selective Laser Sintering) process was recently released. The material is a result of fruitful research programs involving industry and university. The well known and widely used DuraFom™ (PA12) and theCastForm™ (PS) SLS-materials were developed by the same team. In the search for new powder materials many properties of the candidate polymer, e.g. the pulverization, the laser absorption and sintering parameters have to be tuned carefully. Previous Elastomer options materials were poor in strength, detailing, and long-term use. The new product overcomes most of the known deficits. It open completely new practices in many branches like: automotive, house appliances, office equipment, foot ware, medical, and many more. The Sintaflex has a Shore hardness variability 45-75 A and Elongation up to around 300%. The attainable yield strength range is 1.3 - 4.2 MPa. The resolution on the SLS part is up to 0.6 mm. It is positioned in good agreement compared with other commonly used injection plastics. Furthermore, the appeal of all SFF process beside geometry and complexity is thought in varying locally the mechanical properties. Some published patents make suggestions in this direction. The new material, due to the particular properties range in function of the sintering parameter, allows first time to realize this wish. The generated part has controlled variable local properties; a new and unique opportunity opens for the SLS process. The paper describes the basic material properties. Further the main sintering parameters are describes and indications on machine settings are given. RP (Rapid Prototyping) applications and the recent practical experience are illustrated. Distinctive examples of local variable properties in the same part and given limits are shown. Some conclusions are stated.Mechanical Engineerin

Finite element analysis of porously punched prosthetic short stem virtually designed for simulative uncemented hip arthroplasty

Background: There is no universal hip implant suitably fills all femoral types, whether prostheses of porous short-stem suitable for Hip Arthroplasty is to be measured scientifically. Methods: Ten specimens of femurs scanned by CT were input onto Mimics to rebuild 3D models; their *stl format dataset were imported into Geomagic-Studio for simulative osteotomy; the generated *.igs dataset were interacted by UG to fit solid models; the prosthesis were obtained by the same way from patients, and bored by punching bears designed by Pro-E virtually; cements between femora and prosthesis were extracted by deleting prosthesis; in HyperMesh, all compartments were assembled onto four artificial joint style as: (a) cemented long-stem prosthesis; (b) porous long-stem prosthesis; (c) cemented short-stem prosthesis; (d) porous short-stem prosthesis. Then, these numerical models of Finite Element Analysis were exported to AnSys for numerical solution. Results: Observed whatever from femur or prosthesis or combinational femora-prostheses, “Kruskal-Wallis” value p > 0.05 demonstrates that displacement of (d) ≈ (a) ≈ (b) ≈ (c) shows nothing different significantly by comparison with 600 N load. If stresses are tested upon prosthesis, (d) ≈ (a) ≈ (b) ≈ (c) is also displayed; if upon femora, (d) ≈ (a) ≈ (b) < (c) is suggested; if upon integral joint, (d) ≈ (a) < (b) < (c) is presented. Conclusions: Mechanically, these four sorts of artificial joint replacement are stabilized in quantity. Cemented short-stem prostheses present the biggest stress, while porous short-stem & cemented long-stem designs are equivalently better than porous long-stem prostheses and alternatives for femoral-head replacement. The preferred design of those two depends on clinical conditions. The cemented long-stem is favorable for inactive elders with osteoporosis, and porously punched cementless short-stem design is suitable for patients with osteoporosis, while the porously punched cementless short-stem is favorable for those with a cement allergy. Clinically, the strength of this study is to enable preoperative strategy to provide acute correction and decrease procedure time