Patient-Specific Prosthetic Fingers by Remote Collaboration - A Case Study

The concealment of amputation through prosthesis usage can shield an amputee from social stigma and help improve the emotional healing process especially at the early stages of hand or finger loss. However, the traditional techniques in prosthesis fabrication defy this as the patients need numerous visits to the clinics for measurements, fitting and follow-ups. This paper presents a method for constructing a prosthetic finger through online collaboration with the designer. The main input from the amputee comes from the Computer Tomography (CT) data in the region of the affected and the non-affected fingers. These data are sent over the internet and the prosthesis is constructed using visualization, computer-aided design and manufacturing tools. The finished product is then shipped to the patient. A case study with a single patient having an amputated ring finger at the proximal interphalangeal joint shows that the proposed method has a potential to address the patient's psychosocial concerns and minimize the exposure of the finger loss to the public.Comment: Open Access articl

A case study of technology transfer: Rehabilitative engineering at Rancho Los Amigos Hospital

The transfer of NASA technolgy to rehabilitative applications of artificial limbs is studied. Human factors engineering activities range from orthotic manipulators to tiny dc motors and transducers to detect and transmit voluntary control signals. It is found that bicarbon implant devices are suitable for medical equipment and artificial limbs because of their biological compatibility with human body fluids and tissues

e-NABLE: DIY-AT Production in a Multi-Stakeholder System

The e-NABLE community is a distributed collaborative volunteer effort to make upper-limb assistive technology devices available to end users. e-NABLE represents a do-it-yourself (DIY) approach to traditional prosthetic care. In order to learn about the attitudes and challenges of stakeholders working in and around e-NABLE, we conducted interviews with 12 volunteers in the e-NABLE movement and 3 clinicians. We found that volunteers derive a rich set of benefits from this form of altruistic activity; that both volunteers and clinicians recognize that end users benefit from aesthetic customization and personal choice in device selection; and that volunteers and clinicians bring separate, but potentially complementary, skills to bear on the processes of device provision. Based on these findings, we outline potential ways for volunteers and clinicians to optimize their talents and knowledge around the end goal of increased positive patient outcomes

Design, development and evaluation of Stanford/Ames Extra-Vehicular Activity (EVA) prehensors

A summary is given of progress to date on work proposed in 1983 and continued in 1985, including design iterations on three different types of manually powered prehensors, construction of functional mockups of each and culminating in detailed drawings and specifications for suit-compatible sealed units for testing under realistic conditions

Body-Borne Computers as Extensions of Self

The opportunities for wearable technologies go well beyond always-available information displays or health sensing devices. The concept of the cyborg introduced by Clynes and Kline, along with works in various fields of research and the arts, offers a vision of what technology integrated with the body can offer. This paper identifies different categories of research aimed at augmenting humans. The paper specifically focuses on three areas of augmentation of the human body and its sensorimotor capabilities: physical morphology, skin display, and somatosensory extension. We discuss how such digital extensions relate to the malleable nature of our self-image. We argue that body-borne devices are no longer simply functional apparatus, but offer a direct interplay with the mind. Finally, we also showcase some of our own projects in this area and shed light on future challenges

Occupational Therapy Resource Guide for the Utilization of Three-Dimensional Printing

Many practitioners in the field of occupational therapy are unaware of the benefits and importance of implementing a three-dimensional (3D) printer in practice indicating that there is a need for occupational therapy involving the fitting, environmental modifications, and training on how to properly use a 3D printed prosthetic within the upper extremity. 3D printing is when a digital design is converted into a designed material that has a functional purpose and different materials can be used including metal, plastics, and composite materials (Thomas & Claypole, 2016). 3D printing has many unique and effective uses like creating adaptive devices, feeding devices, prosthesis, and splinting. While 3D printing is currently being implemented across certain pediatric populations creating prosthesis, a lack of evidence was noted regarding the use of a 3D printer throughout occupational therapy. (Burn, M. B., Anderson, T., & Gogola, G. R., 2016). This is unfortunate as 3D printing is an innovative field of study that can aid many populations in becoming more independent and functional in daily tasks while increasing quality of life. A comprehensive literature review on the populations that utilize printing was conducted. The lack of occupational therapy involvement in the transition process of creating and training for the use of a 3D prosthetic, yields the demand for occupational therapy services. The information obtained aided in the development of a resource guide containing the importance of occupational therapy services involved with the transition process of a 3D printing. The literature review led the authors to focus on the main areas of rehabilitation phases, splinting and prosthetics, adaptive equipment, 3D printers, printing filaments, and various safety considerations. The integration of occupational therapy in 3D printing will greatly ease the clients’ transitions during rehabilitation phases while increasing their level of function and quality of life. 3D printing is a cost effective, user-friendly, creative, and innovative approach to add to practice. 3D printing is an up-and-coming area of occupational therapy and has the potential to change lives

Assistive Care Robots

Assistive care robots have evolved rapidly in the last 25 years, bringing efficiency into the medical field. Purpose: Understand how assistive care robotics are presently helping in surgery, prosthetic and rehabilitation. Additionally, the effects they will have upon medical professionals within the next ten years. Methods: The team will research on past, present and future projects involving assistive care robotics. Posteriorly to the research, interviews were conducted with medical doctors, professors, and PhD researchers. Results: Assistive care robots are currently improving lives, and bringing efficiency to the medical field. Conclusions: Robots are improving lives of medical professionals and patients by serving as tools that enhance the ability of the users

The "Federica" hand: a simple, very efficient prothesis

Hand prostheses partially restore hand appearance and functionalities. Not everyone can afford expensive prostheses and many low-cost prostheses have been proposed. In particular, 3D printers have provided great opportunities by simplifying the manufacturing process and reducing costs. Generally, active prostheses use multiple motors for fingers movement and are controlled by electromyographic (EMG) signals. The "Federica" hand is a single motor prosthesis, equipped with an adaptive grasp and controlled by a force-myographic signal. The "Federica" hand is 3D printed and has an anthropomorphic morphology with five fingers, each consisting of three phalanges. The movement generated by a single servomotor is transmitted to the fingers by inextensible tendons that form a closed chain; practically, no springs are used for passive hand opening. A differential mechanical system simultaneously distributes the motor force in predefined portions on each finger, regardless of their actual positions. Proportional control of hand closure is achieved by measuring the contraction of residual limb muscles by means of a force sensor, replacing the EMG. The electrical current of the servomotor is monitored to provide the user with a sensory feedback of the grip force, through a small vibration motor. A simple Arduino board was adopted as processing unit. The differential mechanism guarantees an efficient transfer of mechanical energy from the motor to the fingers and a secure grasp of any object, regardless of its shape and deformability. The force sensor, being extremely thin, can be easily embedded into the prosthesis socket and positioned on both muscles and tendons; it offers some advantages over the EMG as it does not require any electrical contact or signal processing to extract information about the muscle contraction intensity. The grip speed is high enough to allow the user to grab objects on the fly: from the muscle trigger until to the complete hand closure, "Federica" takes about half a second. The cost of the device is about 100 US$. Preliminary tests carried out on a patient with transcarpal amputation, showed high performances in controlling the prosthesis, after a very rapid training session. The "Federica" hand turned out to be a lightweight, low-cost and extremely efficient prosthesis. The project is intended to be open-source: all the information needed to produce the prosthesis (e.g. CAD files, circuit schematics, software) can be downloaded from a public repository. Thus, allowing everyone to use the "Federica" hand and customize or improve it

Remote-controlled ambidextrous robot hand actuated by pneumatic muscles: from feasibility study to design and control algorithms

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University LondonThis thesis relates to the development of the Ambidextrous Robot Hand engineered in Brunel University. Assigned to a robotic hand, the ambidextrous feature means that two different behaviours are accessible from a single robot hand, because of its fingers architecture which permits them to bend in both ways. On one hand, the robotic device can therefore behave as a right hand whereas, on another hand, it can behave as a left hand. The main contribution of this project is its ambidextrous feature, totally unique in robotics area. Moreover, the Ambidextrous Robot Hand is actuated by pneumatic artificial muscles (PAMs), which are not commonly used to drive robot hands. The type of the actuators consequently adds more originality to the project. The primary challenge is to reach an ambidextrous behaviour using PAMs designed to actuate non-ambidextrous robot hands. Thus, a feasibility study is carried out for this purpose. Investigating a number of mechanical possibilities, an ambidextrous design is reached with features almost identical for its right and left sides. A testbench is thereafter designed to investigate this possibility even further to design ambidextrous fingers using 3D printing and an asymmetrical tendons routing engineered to reduce the number of actuators. The Ambidextrous Robot Hand is connected to a remote control interface accessible from its website, which provides video streaming as feedback, to be eventually used as an online rehabilitation device. The secondary main challenge is to implement control algorithms on a robot hand with a range twice larger than others, with an asymmetrical tendons routing and actuated by nonlinear actuators. A number of control algorithms are therefore investigated to interact with the angular displacement of the fingers and the grasping abilities of the hand. Several solutions are found out, notably the implementations of a phasing plane switch control and a sliding-mode control, both specific to the architecture of the Ambidextrous Robot Hand. The implementation of these two algorithms on a robotic hand actuated by PAMs is almost as innovative as the ambidextrous design of the mechanical structure itself