Paul Chappell

Development of a lightweight and adaptable multiple-axis hand prosthesis

The last few decades have produced significant improvements in the design of upper limb prostheses through the increasing use of technology. However the limited function exhibited by these devices remains rooted in their single degree of freedom format. Commercial myoelectric hand prostheses warrant high grip forces to ensure stable prehension due to a planar pincer movement. Hence precise and conscious effort is required on the part of the user to ensure optimum grip. Consumers have shown dissatisfaction with the status quo due to the excessive weight and poor function of existing artificial hands. Increasing the number of grasping patterns and improving the visual feedback from an object in the hand are cited as key objectives. This paper outlines the development of the six-axis Southampton-Remedi hand prosthesis that addresses these design issues by maintaining stable prehension with minimal grip force. Constraints such as modularity, anthropomorphism, and low weight and power consumption are factors that have been adhered to throughout the design process.

Hand and arm injuries associated with repetitive manual work in industry: a review of disorders, risk factors and preventive measures

Musculoskeletal disorders are the most common self-reported, work-related illness in the UK, with upper limb disorders ranking second only to back complaints. The rapid increase in disablement cases, the reduced productivity resulting from the disorders, and, perhaps, the threat of litigation which is on the increase, has led to an increased awareness of the problems and an increasing desire to reduce the incidence of such disorders. This paper reviews the problem of upper limb disorders and focuses on those disorders that could be associated with repetitive manual work in industry. The disorders are described and categorized, and potential occupational risk factors are discussed and related to the injuries. In addition, a number of preventive measures, in the form of ergonomics design changes and changes in workplace practice are reviewed. There are frequent calls for well-designed epidemiological studies, so that meaningful dose-response relationships can be drawn up. A significant part of good study design is associated with measurement and analysis of the user-tool interface and the working environment. With this in mind, a variety of measurement techniques are described. Furthermore, this paper highlights the need for study designs to be founded on a better understanding of the potential damage mechanisms, and points the way towards which areas should be investigated.

Intelligent multifunction myoelectric control of hand prostheses.

Intuitive myoelectric prosthesis control is difficult to achieve due to the absence of proprioceptive feedback, which forces the user to monitor grip pressure by visual information. Existing myoelectric hand prostheses form a single degree of freedom pincer motion that inhibits the stable prehension of a range of objects. Multi-axis hands may address this lack of functionality, but as with multifunction devices in general, serve to increase the cognitive burden on the user. Intelligent hierarchical control of multiple degree-of-freedom hand prostheses has been used to reduce the need for visual feedback by automating the grasping process. This paper presents a hybrid controller that has been developed to enable different prehensile functions to be initiated directly from the users myoelectric signal. A digital signal processor (DSP) regulates the grip pressure of a new six-degree-of-freedom hand prosthesis thereby ensuring secure prehension without continuous visual feedback.

Optical properties of human skin

Abstract. A survey of the literature is presented that provides an analysis of the optical properties of human skin, with particular regard to their applications in medicine. Included is a description of the primary interactions of light with skin and how these are commonly estimated using radiative transfer theory (RTT). This is followed by analysis of measured RTT coefficients available in the literature. Orders of magnitude differences are found within published absorption and reduced-scattering coefficients. Causes for these discrepancies are discussed in detail, including contrasts between data acquired in vitro and in vivo. An analysis of the phase functions applied in skin optics, along with the remaining optical coefficients (anisotropy factors and refractive indices) is also included. The survey concludes that further work in the field is necessary to establish a definitive range of realistic coefficients for clinically normal skin.

The design of anthropomorphic prosthetic hands: A study of the Southampton Hand

The design of prosthetic hands is constrained by a series of strict conditions. Despite this, many different design strategies have been explored. One particular form is the Southampton Hand system. This is a hierarchically controlled, electrically driven hand, with multiple axes, in an anthropomorphic form. This paper details the range of mechanical solutions adopted to address the conditions. It also compares them with other solutions.

Feasibility of Iterative Learning Control Mediated by Functional Electrical Stimulation for Reaching After Stroke

Background. An inability to perform tasks involving reaching is a common problem following stroke. Evidence supports the use of robotic therapy and functional electrical stimulation (FES) to reduce upper limb impairments, but current systems may not encourage maximal voluntary contribution from the participant because assistance is not responsive to performance. Objective. This study aimed to investigate whether iterative learning control (ILC) mediated by FES is a feasible intervention in upper limb stroke rehabilitation. Methods. Five hemiparetic participants with reduced upper limb function who were at least 6 months poststroke were recruited from the community. No participants withdrew. Intervention. Participants undertook supported tracking tasks using 27 different trajectories augmented by responsive FES to their triceps brachii muscle, with their hand movement constrained in a 2-dimensional plane by a robot. Eighteen 1-hour treatment sessions were used with 2 participants receiving an additional 7 treatment sessions. Outcome measures. The primary functional outcome measure was the Action Research Arm Test (ARAT). Impairment measures included the upper limb Fugl— Meyer Assessment (FMA), tests of motor control (tracking accuracy), and isometric force. Results. Compliance was excellent and there were no adverse events. Statistically significant improvements were measured (P ≤ .05) in FMA motor score, unassisted tracking for 3 out of 4 trajectories, and in isometric force over 5 out of 6 directions. Changes in ARAT were not statistically significant. Conclusion. This study has demonstrated the feasibility of using ILC mediated by FES for upper limb stroke rehabilitation.

A Novel Thick-Film Piezoelectric Slip Sensor for a Prosthetic Hand

The ability to mimic the tactile feedback exhibited by the human hand in an artificial limb is considered advantageous in the automatic control of new multifunctional prosthetic hands. The role of a slip sensor in this tactile feedback is to detect object slip and thus provide information to a controller, which automatically adjusts the grip force applied to a held object to prevent it from falling. This system reduces the cognitive load experienced by the user by not having to visually assess the stability of an object, as well as giving them the confidence not to apply unnecessarily excessive grip forces. A candidate for such a sensor is a thick-film piezoelectric sensor. The method of fabricating a thick-film piezoelectric slip sensor on a prototype fingertip is described. The construction of experimental apparatus to mimic slip has been designed and analyzed to allow the coefficient of friction between the fingertip and the material in contact with the fingertip to be calculated. Finally, results show that for a coefficient of friction between the fingertip and grade P100 sandpaper of approximately 0.3, an object velocity of 0.025plusmn0.008 ms-1 was reached before a slip signal from the piezoelectric sensor was able to be used to detect slip. It is anticipated that this limiting velocity will be lowered (improved) in the intended application where the sensor electronics will be powered from a battery, connections will be appropriately screened, and if necessary a filter employed. This will remove mains interference and reduce other extraneous noise sources with the consequence of an improved signal-to-noise ratio, allowing lower threshold values to be used in the detection software

Validation and Application of a Computational Model for Wrist and Hand Movements Using Surface Markers

A kinematic model is presented based on surface marker placement generating wrist, metacarpal arch, fingers and thumb movements. Standard calculations are used throughout the model and then applied to the specified marker placement. A static trial involving eight unimpaired participants was carried out to assess inter-rater reliability. The standard deviations across the data were comparable to manual goniometers. In addition, a test-retest trial of ten unimpaired participants is also reported to illustrate the variability of movement at the wrist joint, metacarpal arch, and index finger as an example of model output when repeating the same task many times. Light and heavyweight versions of the tasks are assessed and characteristics of individual movement strategies presented. The participant trial showed moderate correlation in radial/ulnar deviation of the wrist (r = 0.65), and strong correlation in both metacarpal arch joints (r = 0.75 and r = 0.85), the MCP (r = 0.79), and PIP (r = 0.87) joints of the index finger. The results indicate that individuals use repeated strategies of movement when lifting light and heavyweight versions of the same object, but showed no obvious repeated pattern of movement across the population.

A model of the upper extremity using FES for stroke rehabilitation

A model of the upper extremity is developed in which the forearm is constrained to lie in a horizontal plane and electrical stimulation is applied to the triceps muscle. Identification procedures are described to estimate the unknown parameters using tests that can be performed in a short period of time. Examples of identified parameters obtained experimentally are presented for both stroke patients and unimpaired subjects. A discussion concerning the identifications repeatability, together with results confirming the accuracy of the overall representation, is given. The model has been used during clinical trials in which electrical stimulation is applied to the triceps muscle of a number of stroke patients for the purpose of improving both their performance at reaching tasks and their level of voluntary control over their impaired arm. Its purpose in this context is threefold: Firstly, changes occurring in the levels of stiffness and spasticity in each subjects arm can be monitored by comparing frictional components of models identified at different times during treatment. Secondly, the model is used to calculate the moments applied during tracking tasks that are due to a patients voluntary effort, and it therefore constitutes a useful tool with which to analyze their performance. Thirdly, the model is used to derive the advanced controllers that govern the level of stimulation applied to subjects over the course of the treatment. Details are provided to show how the model is applied in each case, and sample results are shown.

A robotic workstation for stroke rehabilitation of the upper extremity using FES

An experimental test facility is developed for use by stroke patients in order to improve sensory-motor function of their upper limb. Subjects are seated at the workstation and their task is to repeatedly follow reaching trajectories that are projected onto a target above their arm. To do this they use voluntary control with the addition of electrical stimulation mediated by advanced control schemes applied to muscles in their impaired shoulder and arm. Full details of the design of the workstation and its periphery systems are given, together with a description of its use during the treatment of stroke patients.