Prosthetic finger phalanges with lifelike skin compliance for low-force social touching interactions

10.1186/1743-0003-8-16Journal of NeuroEngineering and Rehabilitation81

A Method for 3-D Printing Patient-Specific Prosthetic Arms with High Accuracy Shape and Size

Limb amputation creates serious emotional and functional damage to the one who lost a limb. For some upper limb prosthesis users, comfort and appearance are among the desired features. The objective of this paper is to develop a streamlined methodology for prosthesis design by recreating the shape and size of an amputated arm with high accuracy through 3-D printing and silicone casting. To achieve this, the computer tomography (CT) images of the patient's affected and non-affected arms were scanned. Next, the geometry of the socket and the prosthetic arm were designed according the mirrored geometry of the non-affected arm through computer-aided design software. The support structure and the moulds were 3-D printed, and the prosthetic arm was casted with a silicone material. To validate the replication, the shape of the socket and prosthetic arm were quantitatively compared with respect to the source CT scan from the patient. The prosthetic arm was found to have high accuracy on the basis of the Dice Similarity Coefficient (DSC; 0.96), percent error (0.67%), and relative mean distance (0.34 mm, SD = 0.48 mm). Likewise, the socket achieved high accuracy based on those measures: DSC (0.95), percent error (2.97%), and relative mean distance (0.46 mm, SD = 1.70 mm) The liner, socket, and prosthetic arm were then shipped to the patient for fitting. The patient found the fit of the socket and the replication of the shape and the size of the prosthesis to be desirable. Overall, this paper demonstrates that CT imaging, computed-aided design, desktop 3-D printing, and silicone casting can achieve patient-specific cosmetic prosthetic arms with high accuracy. - 2013 IEEE.This work was supported by the NPRP Grant from the Qatar National Research Fund under Grant NPRP 7-673-2-251. The statements made herein are solely the responsibility of the authors.Scopu

Data for benchmarking low-cost, 3D printed prosthetic hands

In this article, three different data sets are presented to evaluate a representative of openly accessible 3D printed prosthetic hand. The first data set includes grasping force measurements of human hand and low-cost 3D printed hand. Three grasping functions were evaluated, spherical, cylindrical, and precision grasps. The experimental test was performed using a wearable tactile sensor. The second data set includes the numerical analysis of prosthetic fingers made from Acrylonitrile Butadiene Styrene (ABS) and Polylactic Acid (PLA) materials under different carrying loads. The numerical analyses were carried out by LS-DYNA software. The files can be used for the prosthetic fingers’ evaluation and for the selection of suitable material. The third data set includes the experimental tensile test of ABS and PLA materials. The mechanical properties were calculated from the results, which can be used in the design and fabrication of products from these materials. All the datasets are available from Harvard Dataverse: https://doi.org/10.7910/DVN/GCPAIL.The work is supported by an internal QUCG grant from Qatar University under the grant No. QUCG-CENG-2018/2019-3 . The statements made herein are solely the responsibility of the authors

Head Impact Severity Measures for Small Social Robots Thrown During Meltdown in Autism

Social robots have gained a lot of attention recently as they have been reported to be effective in supporting therapeutic services for children with autism. However, children with autism may exhibit a multitude of challenging behaviors that could be harmful to themselves and to others around them. Furthermore, social robots are meant to be companions and to elicit certain social behaviors. Hence, the presence of a social robot during the occurrence of challenging behaviors might increase any potential harm. In this paper, we identified harmful scenarios that might emanate between a child and a social robot due to the manifestation of challenging behaviors. We then quantified the harm levels based on severity indices for one of the challenging behaviors (i.e. throwing of objects). Our results showed that the overall harm levels based on the selected severity indices are relatively low compared to their respective thresholds. However, our investigation of harm due to throwing of a small social robot to the head revealed that it could potentially cause tissue injuries, subconcussive or even concussive events in extreme cases. The existence of such behaviors must be accounted for and considered when developing interactive social robots to be deployed for children with autism.The work is supported by a research grant from Qatar University under the grant No. QUST-1-CENG-2018-7Scopu

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

Data on the impact of objects with different shapes, masses, and impact velocities on a dummy head

In this article, a data generated from impacts of objects with different shapes, masses, and impact velocities on a developed dummy head. The mass considered was in the range of 0.3-0.5 kg while the shapes considered were cube, wedge, and cylinder. The impact velocities levels were in the range of 1-3 m/s. A total of 144 experiments were conducted and the corresponding videos and raw data were analyzed for impact velocity, peak head linear acceleration, 3 ms criterion, and the Head Injury Criterion (HIC). This dataset includes the raw acceleration data and a summary of the overall processed data. The data is available on Harvard Dataverse: https://doi.org/10.7910/DVN/AVC8GG.The work is supported by a research grant from Qatar University under the Grant no. QUST-1-CENG-2018-7 .Scopu

User evaluation of an interactive learning framework for single-arm and dual-arm robots

The final publication is available at link.springer.comSocial robots are expected to adapt to their users and, like their human counterparts, learn from the interaction. In our previous work, we proposed an interactive learning framework that enables a user to intervene and modify a segment of the robot arm trajectory. The framework uses gesture teleoperation and reinforcement learning to learn new motions. In the current work, we compared the user experience with the proposed framework implemented on the single-arm and dual-arm Barrett’s 7-DOF WAM robots equipped with a Microsoft Kinect camera for user tracking and gesture recognition. User performance and workload were measured in a series of trials with two groups of 6 participants using two robot settings in different order for counterbalancing. The experimental results showed that, for the same task, users required less time and produced shorter robot trajectories with the single-arm robot than with the dual-arm robot. The results also showed that the users who performed the task with the single-arm robot first experienced considerably less workload in performing the task with the dual-arm robot while achieving a higher task success rate in a shorter time.Peer ReviewedPostprint (author's final draft

Progress of Advanced Nanomaterials in the Non-Enzymatic Electrochemical Sensing of Glucose and H2O2

Non-enzymatic sensing has been in the research limelight, and most sensors based on nanomaterials are designed to detect single analytes. The simultaneous detection of analytes that together exist in biological organisms necessitates the development of effective and efficient non-enzymatic electrodes in sensing. In this regard, the development of sensing elements for detecting glucose and hydrogen peroxide (H2O2) is significant. Non-enzymatic sensing is more economical and has a longer lifetime than enzymatic electrochemical sensing, but it has several drawbacks, such as high working potential, slow electrode kinetics, poisoning from intermediate species and weak sensing parameters. We comprehensively review the recent developments in non-enzymatic glucose and H2O2 (NEGH) sensing by focusing mainly on the sensing performance, electro catalytic mechanism, morphology and design of electrode materials. Various types of nanomaterials with metal/metal oxides and hybrid metallic nanocomposites are discussed. A comparison of glucose and H2O2 sensing parameters using the same electrode materials is outlined to predict the efficient sensing performance of advanced nanomaterials. Recent innovative approaches to improve the NEGH sensitivity, selectivity and stability in real-time applications are critically discussed, which have not been sufficiently addressed in the previous reviews. Finally, the challenges, future trends, and prospects associated with advanced nanomaterials for NEGH sensing are considered. We believe this article will help to understand the selection of advanced materials for dual/multi non-enzymatic sensing issues and will also be beneficial for researchers to make breakthrough progress in the area of non-enzymatic sensing of dual/multi biomolecules.Scopu

Using AI-Enhanced Social Robots to Improve Children’s Healthcare Experiences

This paper describes a new research project that aims to develop an autonomous and responsive social robot designed to help children cope with painful procedures in hospital emergency departments. While this is an application domain where psychological interventions have been previously demonstrated to be effective at reducing pain and distress using a variety of devices and techniques, in recent years, social robots have been trialled in this area with promising initial results. However, until now, the social robots that have been tested have generally been teleoperated, which has limited their flexibility and robustness, as well as the potential to offer personalized, adaptive procedural support. Using co-design techniques, this project plans to define and validate the necessary robot behaviour together with participant groups that include children, parents and caregivers, and healthcare professionals. Identified behaviours will be deployed on a robot platform, incorporating AI reasoning techniques that will enable the robot to adapt autonomously to the child’s behaviour. The final robot system will be evaluated through a two-site clinical trial. Throughout the project, we will also monitor and analyse the ethical and social implications of robotics and AI in paediatric healthcare

Tactile Interactions with a Humanoid Robot : Novel Play Scenario Implementations with Children with Autism

Acknowledgments: This work has been partially supported by the European Commission under contract number FP7-231500-ROBOSKIN. Open Access: This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited.The work presented in this paper was part of our investigation in the ROBOSKIN project. The project has developed new robot capabilities based on the tactile feedback provided by novel robotic skin, with the aim to provide cognitive mechanisms to improve human-robot interaction capabilities. This article presents two novel tactile play scenarios developed for robot-assisted play for children with autism. The play scenarios were developed against specific educational and therapeutic objectives that were discussed with teachers and therapists. These objectives were classified with reference to the ICF-CY, the International Classification of Functioning – version for Children and Youth. The article presents a detailed description of the play scenarios, and case study examples of their implementation in HRI studies with children with autism and the humanoid robot KASPAR.Peer reviewedFinal Published versio