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Conceptual exploration of a gravity-assisted electrorheological fluid-based gripping methodology for assistive technology

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Bio-Design and Manufacturing 2019年第3期2卷 145-152页

作者： Ivo Radice Jeroen H.M.Bergmann Department of Engineering Science Old Road Campus Research BuildingInstitute of Biomedical EngineeringUniversity of OxfordHeadingtonOxfordUK

Gripping devices help patients carry out everyday tasks and increase their ***,there seems to be a lack of bionic gripping technologies that can fully adapt to any possible shape,as the use of artificial fingers and predetermined grip settings limits the operating *** development of a more agile device,which is operated by a simple control paradigm,could greatly benefit *** electrorheological(ER)fluid system should be able to adapt to the shape of an object and then hold that *** aim of this study was to explore if a conceptual prototype of an ER system could hold a geometric shape when it is activated.A test rig was constructed with a moving part(set in different silicone oils)that could be displaced using a *** particles were dispersed in the silicone oils,and a field with a voltage of 4 kV mm?1 was generated to activate the *** results show that the developed system can support an increased force when activated and hold a simple geometric position without any noticeable *** outcome provides an initial proof of concept for a possible new(gravity-assisted)gripping approach using smart fluids,which could be developed with materials that are biocompatible and widely available.

关键词： Smart materials prosthetics Exoskeleton Grasping Manipulation Assistive technologies

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Anthropomorphic Control of a Dexterous Artificial Hand via Task Dependent Temporally Synchronized Synergies

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Journal of Bionic Engineering 2014年第2期11卷 236-248页

作者： Benjamin A. Kcnt John Lavery Erik D. Engeberg Department of Mechanical Engineering University of Akron Akron OH 44325 USA Department of Biomedical Engineering University of Akron Akron OH 44325 USA

Despite the recent influx of increasingly dexterous prostheses, there remains a lack of sufficiently intuitive control methods to fully utilize this dexterity. As a solution to this problem, a control framework is proposed which allows the control of an arbitrary number of Degrees of Freedom （DOF） through a single electromyogram （EMG） control input. Initially, the joint motions of nine test subjects were recorded while grasping and catching a cylinder. Inherent differences emerged depending upon whether the cylinder was grasped or caught. These data were used to form a distinct synergy for each task, described as the families of parametric functions of time that share a mutual time vector. These two Temporally Synchronized Synergies （TSS） were derived to reflect the task dependent control strategies adopted by the initial participants. These synergies were then mapped to a dexterous artificial hand that was subsequently controlled by two subjects with transradial amputations. The EMG signals from these subjects were used to replace the time vector shared by the synergies, enabling the subjects to perform both tasks with a dexterous artificial hand using only a single EMG input. After a ten minute training period, the subjects learned to use the dexterous artificial hand to grasp and catch the cylinder with 100.0% and 65.0% average success rates, respectively.

关键词： electromyogram dexterous hands grasp synergy prosthetics sliding mode control

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A gyroscope-based system for intraoperative measurement of tibia coronal plane alignment in total knee arthroplasty

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Medicine in Novel Technology and Devices 2022年第1期13卷 87-95页

作者： Michael A.Kokko Ryan M.Chapman Martin W.Roche Douglas W.Van Citters Thayer School of Engineering at Dartmouth College 14 Engineering DriveHanoverNH03755USA Department of Kinesiology College of Health SciencesUniversity of Rhode Island25 W.Independence WayKingstonRI02881USA Orthopedic Research Institute Holy Cross Hospital 4725 N Federal Hwy.FtLauderdaleFL33308USA

Coronal plane alignment in total knee arthroplasty(TKA)is an important predictor of clinical outcomes including patient satisfaction and device *** and computer assisted navigation are the two primary technologies currently available to surgeons for intraoperative assessment of alignment;however,neither is particularly well-suited for use in this increasingly high volume *** we propose a novel gyroscopebased instrument for intraoperative validation of tibia coronal plane alignment,and provide initial analytical and experimental performance *** gyroscope-based alignment estimate is derived from simplified joint geometry and verified experimentally using a custom tibial trial insert containing a consumer-grade inertial measurement unit(IMU).Average accuracy of the gyroscope-based tibia coronal angle estimate was found to be within1in mechanical leg jig and cadaver *** results indicate that the proposed gyroscope-based method shows promise for low cost,accurate intraoperative validation of limb alignment in TKA ***grating IMU technology into the TKA surgical workflow via low-cost instrumentation will enable surgeons to easily validate implant alignment in real time,thereby reducing cost,operating room time,and future revision burden.

关键词： Alignment Gyroscope Inertial measurement unit Inertial sensing Orthopedic procedures prosthetics Total knee arthroplasty

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