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Biomechatronics - Lecture 5. Artificial mechanical systems for the upper extremities
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Biomechatronics - Lecture 5. Artificial mechanical systems for the upper extremities

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  • 1. ARTIFICIAL MECHANICAL SYSTEMS for the UPPER EXTREMITY DICK H. PLETTENBURGBIOMECHATRONICS WB2432 Vermelding onderdeel organisatie
  • 2. 2007-03-07 STATE OF THE ART IN UE PROSTHETICS2007-03-14 CONTROL2007-03-21 ACTUATION © Dick H. Plettenburg, 2007
  • 3. Publisher: VSSD – Delftwww.vssd.nl/hlf/m011.htmISBN-13: 978-90-71301-75-9 © Dick H. Plettenburg, 2007
  • 4. STATE OF THE ART IN UPPER EXTREMITY PROSTHETICSVermelding onderdeel organisatie
  • 5. PROSTHESIS =ARTIFICIAL SUBSTITUTE OF A MISSING PART OF THE BODY © Dick H. Plettenburg, 2007
  • 6. •#• History• Classification• Suspension• Available prostheses• Concluding remarks © Dick H. Plettenburg, 2007
  • 7. # © Dick H. Plettenburg, 2007
  • 8. NUMBER OF UPPER EXTREMITYPROSTHESES IN THE NETHERLANDS: 1350 CONGINITAL DEFECTS 2400 AQUIRED DEFECTS Van Dijk, 2004 © Dick H. Plettenburg, 2007
  • 9. History © Dick H. Plettenburg, 2007
  • 10. PROSTHESES IN THE PAST Egypt, 330 BC [Löffler, 1984] © Dick H. Plettenburg, 2007
  • 11. PROSTHESES IN THE PAST Florence, 15th century [Löffler, 1984] © Dick H. Plettenburg, 2007
  • 12. PROSTHESES IN THE PAST Götz von Berlichingen 1480 - 1562 Götz von Berlichingen, ± 1504 [Löffler, 1984] © Dick H. Plettenburg, 2007
  • 13. PROSTHESES IN THE PAST Johann Wolfgang Goethe, 1773 © Dick H. Plettenburg, 2007
  • 14. PROSTHESES IN THE PASTGötz von Berlichingen, 1509 [Borchardt et.al., 1919] © Dick H. Plettenburg, 2007
  • 15. PROSTHESES IN THE PAST Ambroise Paré 1510 - 1590 Ambroise Paré, 16th century [Löffler, 1984] © Dick H. Plettenburg, 2007
  • 16. PROSTHESES IN THE PAST Count of Beaufort, 1860 [Löffler, 1984] © Dick H. Plettenburg, 2007
  • 17. PROSTHESES IN THE PASTELECTRICAL Borchardt et.al., 1919 © Dick H. Plettenburg, 2007
  • 18. PROSTHESES IN THE PASTPNEUMATICAL Borchardt et.al., 1919 © Dick H. Plettenburg, 2007
  • 19. Classification © Dick H. Plettenburg, 2007
  • 20. CLASSIFICATION [ISO – 1989] • congenital • transverse • longitudinal © Dick H. Plettenburg, 2007
  • 21. Day, 1992© Dick H. Plettenburg, 2007
  • 22. Suspension © Dick H. Plettenburg, 2007
  • 23. SUSPENSION Borchardt et.al., 1919 © Dick H. Plettenburg, 2007
  • 24. SUSPENSION • BELOW ELBOW PROSTHESES Püschel, 1954 © Dick H. Plettenburg, 2007
  • 25. SUSPENSION • BELOW ELBOW PROSTHESES Kuhn, 1968 Billock, 1972 © Dick H. Plettenburg, 2007
  • 26. Näder, 1990© Dick H. Plettenburg, 2007
  • 27. SUSPENSION • BELOW ELBOW PROSTHESES WILMER® © Dick H. Plettenburg, 2007
  • 28. SUSPENSION • ABOVE ELBOW PROSTHESES Bowker & Michael, 1992 © Dick H. Plettenburg, 2007
  • 29. SUSPENSION • SHOULDER DISARTICULATION PROSTHESES Bowker & Michael, 1992 © Dick H. Plettenburg, 2007
  • 30. SUSPENSION • SHOULDER DISARTICULATION PROSTHESES Brillinger GmbH & Co. – www.brillinger.de © Dick H. Plettenburg, 2007
  • 31. SUSPENSION • SILICONE ROLL-ON SOCKET BELOW ELBOW PROSTHESES Össur, Iceland © Dick H. Plettenburg, 2007
  • 32. SUSPENSION • SILICONE ROLL-ON SOCKET ABOVE ELBOW Sears & Rendi, 1999 © Dick H. Plettenburg, 2007
  • 33. SUSPENSION • EXPERIMENTAL: OSSEOINTEGRATION Dr. P-I Brånemark, Sweden © Dick H. Plettenburg, 2007
  • 34. SUSPENSION • EXPERIMENTAL: OSSEOINTEGRATION Dr. P-I Brånemark, Sweden © Dick H. Plettenburg, 2007
  • 35. SUSPENSION • EXPERIMENTAL: OSSEOINTEGRATION Dr. P-I Brånemark, Sweden © Dick H. Plettenburg, 2007
  • 36. Available prostheses © Dick H. Plettenburg, 2007
  • 37. PROSTHESESCONTROL ALWAYS BY THE BODY MECHANICAL ELECTRICALPOWER FROM THE BODY EXTERNALLY © Dick H. Plettenburg, 2007
  • 38. © Dick H. Plettenburg, 2007
  • 39. raw EMG processed EMG ISOLATION ISOLATION AMPLIFIER AMPLIFIER DIFFERENTIAL DIFFERENTIAL BANDPASS BANDPASS POST- POST-electrodes DEMODULATOR DEMODULATOR SMOOTHER SMOOTHER AMPLIFIER AMPLIFIER FILTER FILTER PROCESSOR PROCESSOR ISOLATION ISOLATION AMPLIFIER AMPLIFIER these elements detect EMG from these elements decode the raw EMGreference among the ambient electrical “noise”electrode © Dick H. Plettenburg, 2007
  • 40. TYPES OF PROSTHESES © Dick H. Plettenburg, 2007
  • 41. PARTIAL HAND PROSTHESES • FINGER[S] Buckner & Michael, 1993 © Dick H. Plettenburg, 2007
  • 42. PARTIAL HAND PROSTHESES • FINGER[S] Brillinger GmbH & Co. – www.brillinger.de © Dick H. Plettenburg, 2007
  • 43. PARTIAL HAND PROSTHESES • THUMB Atkins & Meier, 1989 © Dick H. Plettenburg, 2007
  • 44. PARTIAL HAND PROSTHESES • TRANSMETACARPAL Atkins & Meier, 1989 © Dick H. Plettenburg, 2007
  • 45. PARTIAL HAND PROSTHESES • TRANSMETACARPAL Näder, 1990 © Dick H. Plettenburg, 2007
  • 46. PARTIAL HAND PROSTHESES • TRANSMETACARPAL Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 47. WRIST DISARTICULATION PROSTHESES Borchardt et.al., 1919 © Dick H. Plettenburg, 2007
  • 48. BELOW ELBOW PROSTHESES • SOCKET • WRIST • TERMINAL DEVICE: HAND HOOK TOOL © Dick H. Plettenburg, 2007
  • 49. BELOW ELBOW PROSTHESES • WRIST PROSTHESES Otto Bock Healthcare GmbH Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  • 50. BELOW ELBOW PROSTHESES • VOLUNTARY OPENING vs VOLUNTARY CLOSING © Dick H. Plettenburg, 2007
  • 51. BELOW ELBOW PROSTHESES • COSMETIC GLOVES RSL-Steeper, UK Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 52. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS Bowker & Michael, 1992 © Dick H. Plettenburg, 2007
  • 53. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 54. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS Hosmer Dorrance Co., USA TRS Inc., USA © Dick H. Plettenburg, 2007
  • 55. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS © Dick H. Plettenburg, 2007
  • 56. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES Atkins & Meier, 1989 Insert: Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  • 57. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Näder, 1990 © Dick H. Plettenburg, 2007
  • 58. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS WILMER® © Dick H. Plettenburg, 2007
  • 59. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 60. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 61. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 62. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS lever push rod fingers control cable wrist prosthesis closing spring thumb WILMER® © Dick H. Plettenburg, 2007
  • 63. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS WILMER® © Dick H. Plettenburg, 2007
  • 64. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 65. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - TOOLS RSL-Steeper, UK Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 66. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  • 67. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  • 68. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 69. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  • 70. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS RSL-Steeper, UK © Dick H. Plettenburg, 2007
  • 71. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 72. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS RSL-Steeper, UK © Dick H. Plettenburg, 2007
  • 73. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS Motion Control, USA © Dick H. Plettenburg, 2007
  • 74. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS RSL-Steeper, UK © Dick H. Plettenburg, 2007
  • 75. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS RSL-Steeper, UK Centri AG, Sweden Otto Bock Healthcare GmbH VASI Inc., Canada © Dick H. Plettenburg, 2007
  • 76. ELBOW DISARTICULATION PROSTHESES RSL-Steeper, UK Näder, 1990 © Dick H. Plettenburg, 2007
  • 77. ABOVE ELBOW PROSTHESES • BODY POWERED ELBOW PROSTHESES Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 78. ABOVE ELBOW PROSTHESES • BODY POWERED ELBOW PROSTHESES Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 79. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES VASI Inc., Canada © Dick H. Plettenburg, 2007
  • 80. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  • 81. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES LTI, USA © Dick H. Plettenburg, 2007
  • 82. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES Motion Control, USA © Dick H. Plettenburg, 2007
  • 83. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 84. SHOULDER DISARTICULATION PROSTHESES • BODY POWERED Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  • 85. SHOULDER DISARTICULATION PROSTHESES • EXTERNALLY POWERED © Dick H. Plettenburg, 2007
  • 86. SUMMARY • PROSTHESIS DEFINITION • PROSTHETIC SUSPENSION • CONTROL vs ACTUATION • BODY POWERED PROSTHESES • EXTERNALLY POWERED PROSTHESES © Dick H. Plettenburg, 2007
  • 87. Concluding remarks © Dick H. Plettenburg, 2007
  • 88. PROSTHESES: • Many different types available • Many end up not being used: 40% non-wearers 60% non-users • Worldwide research efforts to improve prosthetic performance • Focus of most research is wrong! © Dick H. Plettenburg, 2007
  • 89. I miss … …my left hand! © Dick H. Plettenburg, 2007
  • 90. I want a prosthesis! © Dick H. Plettenburg, 2007
  • 91. I want a prosthesis that:• is beautiful• is easy to wear• is easy to operate © Dick H. Plettenburg, 2007
  • 92. © Dick H. Plettenburg, 2007
  • 93. Oh no! So ugly! © Dick H. Plettenburg, 2007
  • 94. Otto Bock Healthcare GmbH,RSL-Steeper, UK © Dick H. Plettenburg, 2007
  • 95. Hmm … , nice. But very heavy! © Dick H. Plettenburg, 2007
  • 96. DELFT INSTITUTE ofPROSTHETICS and ORTHOTICS home of WILMER Vermelding onderdeel organisatie
  • 97. DIPO, part of BioMechanical Engineering, developsprostheses that are:• beautiful = Cosmesis• easy to wear = Comfort The three C’s• easy to operate = Control © Dick H. Plettenburg, 2007
  • 98. Cosmesis: outward appearanceComfort: low massControl: feedback important, therefore mechanical prostheses © Dick H. Plettenburg, 2007
  • 99. Muscle stiffness & viscosity Km(u0) -r + + Bm (u0) -ru0 Mex α + Hact r 1/Jm ∫ ∫+ + F M θ τ Kf τ kv -r + τ kp -r Muscle spindle © Dick H. Plettenburg, 2007
  • 100. Collaborations:Rehabilitation CenterDe Hoogstraat, Utrecht Rehabilitation Center Sint Maartenskliniek, Nijmegen © Dick H. Plettenburg, 2007
  • 101. 2007-03-07 STATE OF THE ART IN UE PROSTHETICS2007-03-14 CONTROL2007-03-21 ACTUATION © Dick H. Plettenburg, 2007