Is it Finger or Wrist Dexterity That is Missing in Current Hand Prostheses?
Is it Finger or Wrist Dexterity That is Missing in Current Hand Prostheses?
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DOI：
10.1109/tnsre.2015.2398112
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发表时间：
2015-07-01
影响因子：
4.9
通讯作者：
Cipriani, Christian
中科院分区：
文献类型：
--
作者：
Montagnani, Federico;Controzzi, Marco;Cipriani, Christian
制造具有与人手相当的灵巧运动功能的假肢是生物工程师的雄心勃勃的目标之一。最先进的假肢缺乏多个自由度（DoF），迫使人们通过改变手臂和身体的运动来补偿它们。然而，这种代偿性运动通常会导致残肢疼痛和过度使用综合症。尽管手腕对于执行上肢运动任务有很大贡献，但在设计具有多种允许抓握功能的假手方面花费了大量精力，但在手腕设计方面却很少做工作。我们假设具有手腕屈曲/伸展功能的单自由度手的功能与不具有手腕屈曲/伸展功能的高性能多自由度手相当。为了评估这一点，我们使用南安普顿手部评估程序比较了四种模拟的腕部假肢架构，并评估了佩戴矫形器的未受损受试者的代偿运动程度。我们的研究结果确实表明，将灵活性从手转移到手腕可以保留经桡动脉截肢者执行常见任务的能力，而对代偿运动的影响有限。因此，这项研究邀请康复工程师关注新型人工腕结构。
Building prostheses with dexterous motor function equivalent to that of the human hand is one of the ambitious goals of bioengineers. State of art prostheses lack several degrees of freedom (DoF) and force the individuals to compensate for them by changing the motions of their arms and body. However, such compensatory movements often result in residual limb pain and overuse syndromes. Significant efforts were spent in designing artificial hands with multiple allowed grasps but little work has been done with regards to wrist design, regardless the fact that the wrist contributes significantly to the execution of upper limb motor tasks. We hypothesized that a single DoF hand with wrist flexion/extension allowed function comparable to a highly performant multi DoF hand without wrist flexion/extension. To assess this we compared four emulated architectures of hand-wrist prostheses using the Southampton Hand Assessment Procedure and evaluating the extent of compensatory movements with unimpaired subjects wearing ortheses. Our findings show indeed that shifting the dexterity from the hand to the wrist could preserve the ability of transradial amputees in performing common tasks with limited effect on the compensatory movements. Hence, this study invites rehabilitation engineers to focus on novel artificial wrist architectures.