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: 8919829
• 负责人: MARCO SANTELLO
• 金额: $ 21.13万
• 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 2017-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8919829
• 关键词: Activities of Daily Living; Address; Adult; Affect; Amputation; Amputees; Appearance; Biomechanics; Clinic; Data; Devices; Digit structure; Disease; Esthetics; Feedback; Fingers; Forearm; Foundations; Freedom; Future; Hand; Hand functions; Health; 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; cognitive load; cost; design; engineering design; feeding; grasp; improved; limb amputation; myoelectric control; new technology; novel; object shape; prosthesis control; prosthesis wearer; prosthetic hand; 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（ADL）的表现至关重要，包括自我喂养，工具使用和娱乐。因此，由于创伤或疾病而导致的手的丧失显着限制了肢体损失的人的执行和工作能力，从而极大地影响了整体生活质量。尽管手术设计和研究取得了进步，但肢体损失的人对假肢的普遍接受仍然存在一些障碍。假体使用的两个最重要的威慑力是假体的有限功能，例如，perfor aDL的能力和舒适性的能力有限，其中包括假体的适合和重量。与放弃手术相关的其他因素是假肢的耐用性；缺乏感觉反馈；成本，在考虑更复杂的手提假体（即肌电模型）的初始和维护成本时可能会很重要；以及假肢的美学外观。因此，当今的商业上可用的手提伪造未能满足肢体损失的人的需求，即重新获得一定程度的自主权，功能和重新进入劳动力。为了解决上述手段研究的差距和肢体损失的人的访问，我们建议根据PISA大学和意大利理工学院（IIT）设计的人造手设计新的假肢手，PISA/IIT SOFTHAND（SH）。 SH的设计基于最近提出的“软协同”的方法，该方法利用了人手协同作用和新型软机器人技术的概念的结合。 SH是针对机器人应用设计和实施的，因此，它在跨性截肢患者上进行假肢应用的潜力尚待证明。但是，初步数据表明，使用SH的肌电版本的健康对照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SH在INTAT个人上的假肢应用的功能能力，以及（2）量化修改后SH的功能能力对肢体损失的人的功能能力。 AIM 1（1年级）的结果将用于对SH（基于EMG的插座，基于EMG的控制器，力反馈接口）实施设计修改，以对患者进行测试（AIM 2，2年级）。对于这两个目标，我们将使用临床医生使用的任务来评估上肢损失的人以及生物力学测试。我们假设患者将学会使用SH并执行比当前终端设备所允许的更高的掌握和操纵任务。这项探索性研究的长期目标是为（1）设计低成本和高性能的手提假体的设计提供重要的基础，该研究将被肢体损失损失的人所接受，以及（2）启用比当今可获得的可获得的范围更广泛的ADL任务。

项目成果

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands.

• DOI: 10.1016/j.plrev.2016.02.001
• 发表时间: 2016-07
• 期刊: Physics of life reviews
• 影响因子: 11.7
• 作者: Santello M;Bianchi M;Gabiccini M;Ricciardi E;Salvietti G;Prattichizzo D;Ernst M;Moscatelli A;Jörntell H;Kappers AM;Kyriakopoulos K;Albu-Schäffer A;Castellini C;Bicchi A
• 通讯作者: Bicchi A

Proof of Concept of an Online EMG-Based Decoding of Hand Postures and Individual Digit Forces for Prosthetic Hand Control.

• DOI: 10.3389/fneur.2017.00007
• 发表时间: 2017
• 期刊: Frontiers in neurology
• 影响因子: 3.4
• 作者: Gailey A;Artemiadis P;Santello M
• 通讯作者: Santello M

The SoftHand Pro: Functional evaluation of a novel, flexible, and robust myoelectric prosthesis.

• DOI: 10.1371/journal.pone.0205653
• 发表时间: 2018
• 期刊: PloS one
• 影响因子: 3.7
• 作者: Godfrey SB;Zhao KD;Theuer A;Catalano MG;Bianchi M;Breighner R;Bhaskaran D;Lennon R;Grioli G;Santello M;Bicchi A;Andrews K
• 通讯作者: Andrews K

Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-Inspired Robotic Hand for Prosthetic Applications.

• DOI: 10.3389/fnbot.2016.00011
• 发表时间: 2016
• 期刊: Frontiers in neurorobotics
• 影响因子: 3.1
• 作者: Fani S;Bianchi M;Jain S;Pimenta Neto JS;Boege S;Grioli G;Bicchi A;Santello M
• 通讯作者: Santello M

Towards a synergy framework across neuroscience and robotics: Lessons learned and open questions. Reply to comments on: "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands".

迈向神经科学和机器人技术的协同框架：经验教训和开放性问题。

• DOI: 10.1016/j.plrev.2016.06.007
• 发表时间: 2016
• 期刊: Physics of life reviews
• 影响因子: 11.7
• 作者: Santello,Marco;Bianchi,Matteo;Gabiccini,Marco;Ricciardi,Emiliano;Salvietti,Gionata;Prattichizzo,Domenico;Ernst,Marc;Moscatelli,Alessandro;Jorntell,Henrik;Kappers,AstridML;Kyriakopoulos,Kostas;Schaeffer,AlinAbu;Castellini,Claudi
• 通讯作者: Castellini,Claudi