Soft Synergy-Based Artificial Hand for Prosthetic Applications

用于假肢应用的基于软协同的假手

• 批准号: 8779291
• 负责人: MARCO SANTELLO
• 金额: $ 18.21万
• 依托单位: ARIZONA STATE UNIVERSITY-TEMPE CAMPUS
• 依托单位国家: 美国
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-08-31 至 2016-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8779291
• 关键词: Activities of Daily Living; Address; Adult; Affect; Amputation; Amputees; Appearance; Biomechanics; Clinic; Cognitive; Data; Devices; Digit structure; Disease; Esthetics; Feedback; Fingers; Forearm; Foundations; Freedom; Future; Hand; Hand functions; Human; Individual; Injury; Institutes; Joints; Learning; Limb Prosthesis; Limb structure; Maintenance; Modality; Modeling; Modification; Molds; Motion; Muscle; Myoelectric prosthesis; Patients; Pattern; Performance; Persons; Population; Prosthesis; Prosthesis Design; Published Comment; Quality of life; Recreation; Research; Research Personnel; Resistance; Robotics; Solutions; Technology; Testing; Training; United States; Universities; Upper Extremity; Weight; Work; base; cost; design; engineering design; feeding; grasp; improved; limb amputation; new technology; novel; object shape; public health relevance; sensory feedback; statistics; tool

DESCRIPTION (provided by applicant): The human hand is critically important for performance of many activities of daily living (ADL), including self- feeding, tool use, and recreation. Therefore, loss of the hand due to traumatic injury or disease significantly limits persons with limb loss' ability to perform ADL and work, thus greatly affecting overall quality of life. Despite advances in hand prostheses design and research, several barriers remain against widespread acceptance of prosthetic hands by persons with limb loss. The two most significant deterrents to prosthetic use are prostheses' limited functionality, e.g., limited ability to perfor ADL, and comfort, which includes fit and weight of prosthesis. Additional factors associated with abandonment of hand prostheses are durability of the prosthetic hand; lack of sensory feedback; cost, which can be significant when considering both the initial and maintenance costs of the more sophisticated hand prostheses, i.e., myoelectric models; and the aesthetic appearance of the prosthetic hand. Therefore, today's commercially available hand prostheses fail to address the needs of persons with limb loss, i.e., regaining some degree of autonomy, functionality, and re-entering the work force. To address the above gaps in hand prosthetic research and access to persons with limb loss, we propose to design a new prosthetic hand based on an artificial hand designed by the University of Pisa and the Italian Institute of Technology (IIT), the Pisa/IIT SoftHand (SH). The design of the SH is based on the recently proposed approach of "soft synergies" that capitalizes on the combination of the concept of human hand synergies and novel soft robotics technologies. The SH was designed and implemented for robotics applications, and therefore its potential for prosthetic applications on patients with transradial amputation remains to be demonstrated. However, preliminary data suggest that healthy controls using the myoelectric version of the SH can grasp and manipulate a wide variety of objects with minimal training. The proposed studies were designed to pursue two aims: (1) to quantify the functional capabilities of the SH for prosthetic applications on intat individuals, and (2) to quantify the functional capabilities of the modified SH on persons with limb loss. The results of Aim 1 (year 1) will be used to implement design modifications to the SH (socket, EMG-based controller, force feedback interface) to be tested on patients (Aim 2, year 2). For both aims, we will use tasks used by clinicians for functional assessment of persons with upper limb loss, as well as biomechanical tests. We hypothesize that patients will learn to use the SH and perform grasp and manipulation tasks to a greater level than that allowed by their current terminal devices. The long-term objectives of this exploratory study are to provide an important foundation for a larger study focusing on (1) the design of a low- cost and high-performance hand prosthesis that will be accepted by persons with limb loss, and (2) enable performance of a wider range of ADL tasks than allowed by today's commercially available prostheses.

描述（由申请人提供）：人手对于许多日常生活活动（ADL）的执行至关重要，包括自我进食、工具使用和娱乐。因此，因外伤或疾病而失去手会极大地限制肢体丧失者进行日常生活活动和工作的能力，从而极大地影响整体生活质量。尽管假手设计和研究取得了进步，但肢体丧失者广泛接受假手仍然存在一些障碍。使用假肢的两个最重要的障碍是假肢的功能有限（例如，执行 ADL 的能力有限）和舒适度（包括假肢的贴合度和重量）。与废弃假手相关的其他因素包括假手的耐用性；缺乏感官反馈；成本，当考虑到更复杂的手假肢（即肌电模型）的初始成本和维护成本时，成本可能会很高；以及假手的美观外观。因此，当今市售的手假肢无法满足肢体丧失者的需求，即重新获得一定程度的自主权、功能和重新进入劳动力市场。为了解决手假肢研究和帮助肢体丧失者方面的上述差距，我们建议以比萨大学和意大利理工学院 (IIT) 设计的假手为基础，设计一种新的假肢手，即 Pisa/IIT软手（SH）。 SH的设计基于最近提出的“软协同”方法，该方法利用了人手协同概念和新颖的软机器人技术的结合。 SH 是为机器人应用而设计和实现的，因此其在经桡动脉截肢患者的假肢应用中的潜力仍有待证明。然而，初步数据表明，使用肌电型 SH 的健康对照者可以通过最少的训练来掌握和操纵各种物体。拟议的研究旨在实现两个目标：(1) 量化用于完整个体假肢应用的 SH 的功能能力，以及 (2) 量化改良型 SH 对肢体丧失者的功能能力。目标 1（第一年）的结果将用于对 SH（插座、基于 EMG 的控制器、力反馈接口）进行设计修改，以在患者身上进行测试（目标 2，第二年）。为了实现这两个目标，我们将使用临床医生使用的任务来对上肢丧失患者进行功能评估以及生物力学测试。我们假设患者将学习使用 SH 并执行抓取和操作任务，其水平高于当前终端设备所允许的水平。这项探索性研究的长期目标是为更大规模的研究提供重要基础，重点关注 (1) 设计一种低成本、高性能的手部假肢，让肢体丧失者能够接受，以及 (2 ）能够执行比当今市售假肢更广泛的 ADL 任务。