 |
Historical
Perspective
 |
Body
powered (by 1950s, pretty mature [major efforts after WW II (and WW I,
etc.)] |
|
Externally
powered (1960's to present) |
|
|
Goals (a
challenge to identify)
|
Level of
amputation(s) -- below elbow (BE) vs above elbow (AE) |
|
Relative
importance of function vs aesthetics |
|
task
analysis |
|
|
Basic
Components
|
Socket
& support structures |
|
"arm"
(if AE) |
|
Terminal
device (e.g., hand) |
|
|
Overview
of Alternative Options (from Advanced Arm
Dynamics) |
|
"Conventional"
Body-Powered Systems
|
Harness:
for control & support
 |
control:
shoulder shrugs, etc. |
|
support
(covered last week -- but now more tensile & shear loading) |
|
|
Terminal
devices
|
voluntary
closing (VC) vs voluntary opening (VO) |
|
hook vs
hand |
|
activity-specific
terminal devices (e.g., sports) |
|
|
Concept
of "Extended Physiological Proprioception" (EPP) |
|
Products
(web):
|
|
|
Externally-Powered
Systems
|
Pneumatic
|
advantages;
braided vs cylinders, problem of power supply |
|
|
Electric
Motors (e.g., DC) |
|
Control
|
"switch"
(mech, myo) vs "proportional" (myo) |
|
different
ad-hoc strategies (e.g., prop + locking) |
|
feedback
-- mech, electrocutaneous, visual |
|
local
feedback control: pos? vel? stiffness? |
|
|
Otto
Bock ErgoArm Elbow & SensorHand |
|
Motion
Control (Utah) |
|
|
Hybrids
|
Mixing of
components |
|
Ex: ext
powered elbow, body-powered hand |
|
