A sensorimotor PROsthesis for the upper LIMB (PROLIMB)

手指和指尖是最常见的截肢身体部位，由于与工作有关的事件。然而，由于空间，重量和成本的限制，假肢手指和指尖是沉重的，体积庞大，有限的主动运动和sensation.The项目的目的是建模，设计，制造和验证一个负担得起的身体动力集成机械触觉反馈的假肢指尖数字。它将通过结合协同专业知识，从沃里克大学（UoW）的肢体运动的参数化数学模型，并在创建软，刚度可控的机器人结构和触觉反馈接口从大学学院伦敦（UCL）。最重要的是它的变革性质，我们将通过与以下各方的密切合作来实现这一点：（1）考文垂和沃里克郡大学医院（UHCW）和UHCW创新中心的临床专家，他们将在整个过程中提供咨询和临床意见;以及（2）战略项目合作伙伴，即Steeper Group和Ottobock SE & Co. KGaA，假肢设备开发的世界领导者; Global Disability Hub CIC（GDI Hub）与当地社区、学者、专家和残疾人合作，推动创新、共同设计和合作; e-NABLE是一家全球慈善机构，为需要上肢辅助的人提供免费假肢。因此，该项目的目标是：1）.为了获得对手指（指尖）运动的深入理解，以恢复手的功能，并开发能够准确模拟和再现这种运动的新型数学模型。实现这一目标的途径是，建立一个目前日常活动中使用的人手抓握的全面组合，并建立经验证的数学模型，与现有模型相比，这些模型可以重现此类分类。2）。为了创建一个集成触觉传感反馈的电致动的、身体供电的假肢指尖。这将通过分析比较假肢指尖的设计能力与人类手指运动，使用适当的实验技术测试使用假肢指尖施加的力来实现。3）。对数学模型和通过在运动捕捉（步态）实验室中使用受控环境中的患者进行验证开发的身体动力假肢指尖进行完整的集成和验证，以及长期验证研究。

The finger and fingertip are the most frequently amputated body parts, due to work-related incidents. Yet because of space, weight and cost constraints, prosthetic fingers and fingertips are heavy and bulky with limited active motion and sensation.The aim of this project is to model, design, fabricate and validate an affordable body-powered prosthetic fingertip digit with integrated mechanical haptic feedback. It will do this by combining synergetic expertise in developing parameterised mathematical models of limb motion from the University of Warwick (UoW) and in creating soft, stiffness-controllable robotic structures and haptic feedback interfaces from University College London (UCL). Of key importance is its transformative nature, which we will achieve through close collaboration with (1) clinical experts from University Hospitals Coventry and Warwickshire (UHCW) and the UHCW Innovation Hub, who will provide consultation and clinical input throughout; and (2) strategic project partners, namely the Steeper Group and Ottobock SE & Co. KGaA, world leaders in the development of prosthetic devices; the Global Disability Hub CIC (GDI Hub), working with local communities, academics, experts and disabled people to drive innovation, co-design and collaboration; and e-NABLE, a worldwide charity that creates free protheses for those in need of an upper limb assistance.The objectives of the project are therefore: 1). to obtain an in-depth understanding of finger(tip) movements to recover hand functionality and the development of novel mathematical models that can accurately characterise and reproduce such movements. this will be achieved through the generation of a comprehensive portfolio of human hand grasps used in current everyday activities and validated mathematical models that can reproduce such taxonomies, compared to pre-existing models. 2). To create a pneumatically actuated, body-powered prosthetic fingertip with integrated haptic sensing feedback. This will be achieved through analysis comparing the design capabilities of the prosthetic fingertip when compared to human finger motion, testing the forces exerted using the prosthetic fingertip using appropriate experimental techniques. 3). To perform complete integration and validation of the mathematical models and body-powered prosthetic fingertip developed through verification in motion capture (gait) laboratories using patients in controlled environments as well as long-term validation studies.