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Dr. Huan Liu & Prof. Fanny Ficuciello Robotics for Bioengineering • Robotic Prostheses

Robotic prostheses: Classification, design, sensing and actuation

Huan Liu

PRISMA Lab & ICAROS Center,

Università degli Studi di Napoli Federico II


Content Introduction Classification Design Sensing Actuation A research case


Upper limb [1]

Shoulder (3 DoFs)

Elbow (1 DoF)

Wrist (3 DoFs)

Hand (≥ 20 DoFs )

Lower limb [2]

Hip (3 DoFs)

Knee (1 DoF)

Ankle (3 DoF)

Foot (≥ 10 DoFs )

Limb joints:

Saddle joint (Metacarpophalangeal )

Condyloid joint

(Wrist)

Ball-and-socket joint

(shoulder and hip)

Hinge joint

(Elbow and knee)

Planar joint

(Ankle) [4]

Introduction


Shoulder disarticulationTranshumeral

Elbow disarticulationTransradial

Wrist disarticulationPartial hand

Finger

Upper limb

Lower limbHip disarticulationTransfemoral knee disarticulationTranstibialAnkle disarticulationPartial footToe

Levels of limb amputationIntroduction


Cosmetic toeAbout 1000 BC [5]

Passive handAbout 1500 AD [6]

Body-powered hand1916 [7]

First myoelectric handAbout 1950s [6]

About 1980s Commercial

myoelectric hand [8]

About 2000 [9, 10]Commercial

anthropomorphic Hands

Today Still a hot research topic [11, 12]

Introduction


Classification

According to amputation level Upper limb

Full arm, transhumeral, tranradial, partial hand, finger

Lower limb Full leg, transfemoral, transtibial, partial foot, toe

According to power supply Externally-powered

Electric, pneumatic/hydraulic

Body-powered Shoulder-powered, elbow-powered, wrist-powered and finger-powered, etc.

Passive/cosmetic prosthesis Not the interests of this lecture


Full-arm (shoulder)

Transhumeral

Transradial

Partial hand

Finger

Upper limb prostheses

[13]

[14]

[15]

[16][17]

Classification


Full-leg (including hip)

Transfemoral

Transtibial

Partial foot

Toe (cosmetic )

Lower limb prostheses

[18][19][20][21][22]

Classification


[23]

Classification Externally-powered prostheses

Electronic (most commonly used) Advantages: self-contained and portable

Disadvantage: need to be recharged


[24]

[26]

[25]

Classification Externally-powered prostheses

Pneumatic/hydraulic Usually in research prototypes Drawback: pumps and valves are hard to be integrate in a anthropomorphic design


[27]

[28]

Video: https://www.youtube.com/watch?v=niKwFgZRdqk

Video: https://www.youtube.com/watch?v=SeF1IetqMSs&feature=youtu.be

Classification Body-powered prostheses

Upper limb examples


[30] Oscar Pistorius [32] With the Flex-Foot Cheetah by Ossur [33]

[30]

[29]

Video:https://www.youtube.com/watch?v=a9E0uHvfEcI

Classification Body-powered prostheses

Lower limb examples


Externally-powered VS Body-powered

Externally-powered Body-powered

Weight heavier(Motor, battery, electronics, etc.)

Lighter(less components)

Cost Higher Lower(less components)

Reliability More components, lower reliability

Better(Simpler design)

Battery-life limited Infinite

Dexterity &functionality

Better(Multiple actuators can be used) Usually one DoF of actuation

Naturalbody movement Better No

(Extra body movement for actuation)

Classification


Design Lightweight

Most important factor (especially for hand prosthesis)

Anthropomorphism Appearance

Kinematics

Comfortable human-machine interface Mechanical (Socket, osseointegrated implant, etc.)

Control (Sensors and control method)

Others Reliability, cost, high force and torque output


[34]

[35] [36]

[37] [38]

Design Lightweight

Simpler design (Underactuation, less motors and smaller batteries) Light weight structure and materials Weight allocation with lower moment of inertia


[39] [40]

Design Anthropomorphism

Appearance (acceptable to user) Kinematics (compatible to the environment made for human)


[41] [42]

[43] [44] [45]

Stump

Design Comfortable human-machine interface

Mechanical (socket, osseointegrated implant. etc) Control (sensors and control methods)


Prosthetic hands: commercial

Name Myohand(Ottobock)

i-limb(Touch bionics)

Bebionic(Ottobock)

Michelangelo(Ottobock)

Weight (g) 460 539 567 746

NO. of motors 1 6 5 2

NO. of joints 2 11 11 6

[8] [10] [46][9]

Design


Prosthetic hands: Institutional

Future direction: Maximizing dexterity/functionality while reducing weight and number of motors

Gosselin PISA/IIT SoftHand RIC arm SSSA-MyHand Xu

Date 2008 2014 2016 2017 2017

Weight (g) unknown About 600 unknown unknown 470

NO. of motors 1 1 2 3 1

NO. of joints 15 19 8 10 11

[35] [48] [49][47]

Design


Prosthesis EnvironmentUserSensing Sensing

Sensing Sensing human intention

Myoelectric Inertial sensor Others

Sensing the environment Tactile sensor Others


[50]

[51]

Sensing Myoelectric/electromyographic (EMG) sensor

EMG signal: Once a muscle is electrically or neurologically activated, an electricpotential is generated by the muscle cells.

Advantages: Non-invasive, low-cost (for surface EMG)

Disadvantages: Susceptible to interference Interference between muscle signals Muscle fatigue


Simple on-off control Myo armband, Thalmic Labs Inc. [43]

Video: https://youtu.be/ma0cxk05IcE

Video: https://www.youtube.com/watch?v=oWu9TFJjHaM

Sensing Myoelectric control

Typical method: On–off myoelectric control Proportional myoelectric control Pattern recognition-based myoelectric control


IMU Foot Control of the LUKE arm [52]

[53]

Sensing

Inertial sensor/Inertial Measurement Unit (IMU) Gyroscope (measuring orientation and angular velocity)

Accelerometer (measures proper acceleration)


Environment sensor Tactile sensors: measures force/torque information from physical interaction

with its environment

Resistive Optical etc.

The SynTouch fingertip [55]

Conductive Piezoelectric

The Allegro hand [54] Optical tactile sensor [56]

Sensing


[57] [58]

Actuation Electromagnetic Motor (most commonly used) Pneumatic/hydraulic cylinders Artificial muscle:

Shape Memory Alloys (SMA) Pneumatic muscles


Actuators: Electromagnetic motor Compact High efficiency (> 90%)

Excellent control performance Fast torque response

Maxon DC motor [59]

Gearbox

Motor

Encoder[60]

Actuation


The Delft cylinder hand [62]

[61]

Actuation Pneumatic/hydraulic cylinders Advantages

high power/force Disadvantages

pumps and valves are hard to be integrate in a anthropomorphic design Fluid leak


[64][63]

Video:https://www.youtube.com/watch?v=vAU8DM8LaS4

Actuation Artificial muscles Shape Memory Alloys (SMA)

Advantage: smooth, silent operation and compact size Disadvantage: slow operating speed

https://www.youtube.com/watch?v=vAU8DM8LaS4



[65]

[66][67]

Video:https://www.youtube.com/watch?v=ORcx1Lv7iDc

Actuation Artificial muscles Pneumatic muscles


Motor

[68]

Joints

Actuation Transmissions: From actuator(s) to joint(s) Tendon Linkage Fluidic (pneumatic/hydraulic) Gears


Transmission in prosthetic hands

Hand by Gosselin [34]1 actuator, 15 joints

Hand by Dollar [69]1 actuator, 11 joints

TUAT/Karlsruhe Hand [70]1 actuator, 15 joints

Hand by Yasuhisa [71]1 actuator, 15 joints

Hand by Gosselin [35]1 actuator, 15 joints

Pulley-based Linkage-based


Gripper by Begoc [72]1 actuator, 6 joints

Delft Hand [27]1 actuator, 7 joints

SARAH Hand [73]2 actuator, 11 joints

Fluidic T-pipe-based Gear-based

Transmission in prosthetic hands


sEMGsensors

CDM

Control Unit

Switch

80mm

200mm

Weight: 470g

Batteries

MotorClutch

Variable Transmission

• 11 joints

• 1 motor

Overview

• Myoelectric-controlled

• All component in a anthropomorphic shape

A research case

Presenter

Presentation Notes

So, after the dissertation proposal, we developed the second generation of this hand. The dimension of this hand is close to commercial ones, like i-limb and Bebionic. The total weight is 470 grams, including butteries, is much more lighter than commercial ones. Like the first generation, This hand also used CDM to generate differatial outputs. To address the problem of the first one, this hand have several new fetures. To generate lager force output, we designed a load-sensitive transmission in the hand to magnify the force. To maximize the energy efficiency, we designed a cluth which can automatically lock and unlock At last, for easy control of the hand, we adopted a set of commercial control hardware to realize myoelectric control


Design overview

Batteries MotorDCX 16

Bevelgears

Variable transmission

Clutch

• 11 joints1 passive (ROT)10 active

• 1 motor

CDM

PIP

MCPIP

ABD

Control Unit

ROT

Coupler 2

Coupler 1 Nitinol rod

PIP MCP

Clamp

A research case


Continuum Differential Mechanism (CDM) [74]

End Link

Base Link

Input backbone

af af

Output backbones

Planar CDM

Base Link

Input backbone

Output backbones

End Link

af

af

Spatial CDM

• Compact • Simple

• Lightweight • ······

A research case

Presenter

Presentation Notes

Here we propose two different differential mechanisms: the continuum differential mechanism. The structure of the CDM is really simple. For example, the spatial is consist of a rigid base link, a rigid end link, a flexible input backbone, and three output backbones. The output backbones could be arranged arbitrarily around the input backbone in the spatial CDM. All the backbones are attached to the end link and can slide in holes in the base link. The planar CDM could be consider as a special case of the spatial CDM, whose backbones are arranged in one plane. The Spatial CDM resolves one input to 3 outputs, that may expand the definition of differential mechanism given by IFToMM. What’s more, the CDMs are really compact, simple and light-weight, and suitable for using in robotic hand. Later, we will show these advantages by two prosthetic hands.


• Compact • Simple• Lightweight • ······

End Link

Base Link

Input backbone

af af

Output backbones

Planar CDM

Base Link

Input backbone

Output backbones

End Link

af

af

Spatial CDM

Video:https://www.youtube.com/watch?v=ORcx1Lv7iDc

A research case

Presenter

Presentation Notes

Here we propose two different differential mechanisms: the continuum differential mechanism. The structure of the CDM is really simple. For example, the spatial is consist of a rigid base link, a rigid end link, a flexible input backbone, and three output backbones. The output backbones could be arranged arbitrarily around the input backbone in the spatial CDM. All the backbones are attached to the end link and can slide in holes in the base link. The planar CDM could be consider as a special case of the spatial CDM, whose backbones are arranged in one plane. The Spatial CDM resolves one input to 3 outputs, that may expand the definition of differential mechanism given by IFToMM. What’s more, the CDMs are really compact, simple and light-weight, and suitable for using in robotic hand. Later, we will show these advantages by two prosthetic hands.


The 2-stage CDM

Driving backbone

Driven backbones

S

Stage-1

Stage-2

Drivenbackbones

End linkof Stage-1

Driving backbone

Base link

Clamp

End link of Stage-2

Generated bent shapes

Palm

Thumb driving shaft

A research case


Myoelectric control

Originally for 1-DoF prosthesis

Batteries7.4V

5V regulator78M05

DC motorDCX16S

MCUSTC 89C51

sEMGsensors

Motor DriverBD6222FP

PWM Current feedback

Control hardware from Danyang Prosthesis Co., Ltd.

sEMG sensors

To motor

To batteries Control unit

A research case


Grasping capabilities

DC power supplier

Switch

End links of Stage-2

End link of Stage-1Base link

Lateral grasps

Pinch grasps

Power grasps

Experimental setup

A research case


Grasp force measurements

0.2 0.4 0.6 0.8 1 1.2 1.4 1.60

5

10

15

20

25

30

Current(A)

Forc

e(N

)

Power grasp

Five-finger pinch

Tripod pinch Power

5-fingered

Tripod

A research case


Preliminary clinical evaluation

Socket

2-min Blocks and Box Test

SHAP (Southampton Hand Assessment Procedure)

Index of Function (IoF)

Functionality Profile (FP)

Spherical Tripod Power Lateral Tip Extension

31 50 87 12 48 70 27 68

PassiveWrist

Subject wears the prosthesis 2-min Blocks and Box Test SHAP

A research case


Preliminary clinical evaluation

Video:https://www.youtube.com/watch?v=V_ufjzSPu-w&t=41s

A research case


Video: https://www.youtube.com/watch?v=3YLwTJMyoB8

A research case


Hugh HerrProfessor at MIT

Mountain climber Double transtibial amputee

Working on robotic prosthesis

A story


1. Experimental observations on human reaching motion planning with and without a reduced mobility2. Development of a lower limb rehabilitation exoskeleton based on real-time gait detection and gait tracking3. https://www.cgstudio.com/3d-model/male-crash-test-dummy-5009234. https://www.slideshare.net/stesaf/types-of-joint-worksheet5. https://www.livescience.com/59581-ancient-prosthetic-toe-found-in-egyptian-grave.html6. The evolution of functional hand replacement: From iron prostheses to hand transplantation7. https://av.tib.eu/media/122608. Ottobock Myohand9. i-Limb Hand10. Ottobock Bebionic Hand11. JHU-APL hand, revolutionizing prosthesis 200912. Huichan Zhao13. DEKA14. RIC15. Bebionic16. I-digits17. partial hand solutions, LLC. http://www.partialhandsolutions.com/18. Helix 3D https://www.ottobockus.com/Prosthetics/lower-limb-prosthetics/solution-overview/helix-hip-system/19. C-Leg 4 https://www.ottobock.co.uk/prosthetics/lower-limb-prosthetics/prosthetic-product-systems/c-leg-4/20. http://www.albertaoandp.com/transtibial-below-knee21. http://www.partial-foot-amputation.com/en/home/long-term-fitting/what-is-a-partial-foot-prosthesis/22. https://www.smithsonianmag.com/smart-news/study-reveals-secrets-ancient-cairo-toe-180963783/23. http://www.1-handed.com/en/page/i-limb-prosthesis24. Shadow hand25. Air muscle. https://seniordesign.engr.uidaho.edu/2011-2012/tensegrityrobot/concepts.html26. An Experimental Powered Lower Limb Prosthesis Using Proportional Myoelectric Control

References

https://www.cgstudio.com/3d-model/

https://www.cgstudio.com/3d-model/male-crash-test-dummy-500923

https://www.livescience.com/59581-ancient-prosthetic-toe-found-in-egyptian-grave.html

https://av.tib.eu/media/12260

http://www.partialhandsolutions.com/

https://www.ottobockus.com/Prosthetics/lower-limb-prosthetics/solution-overview/helix-hip-system/

https://www.ottobock.co.uk/prosthetics/lower-limb-prosthetics/prosthetic-product-systems/c-leg-4/

http://www.albertaoandp.com/transtibial-below-knee

http://www.partial-foot-amputation.com/en/home/long-term-fitting/what-is-a-partial-foot-prosthesis/

https://www.smithsonianmag.com/smart-news/study-reveals-secrets-ancient-cairo-toe-180963783/

http://www.1-handed.com/en/page/i-limb-prosthesis


27. An Experimental Powered Lower Limb Prosthesis Using Proportional Myoelectric Control28. Delft cylinder hand29. JTP hand30. https://www.ottobockus.com/prosthetics/lower-limb-prosthetics/solution-overview/x3-prosthetic-leg/31. ReMotion Knee32. https://www.youtube.com/watch?v=a9E0uHvfEcI33. https://en.wikipedia.org/wiki/Oscar_Pistorius34. https://www.ossur.com/prosthetic-solutions/products/sport-solutions/cheetah35. 15 DoF hand gosselin36. Programable hand gosselin37. Deimel, R. and O. Brock (2015). "A novel type of compliant and underactuated robotic hand for dexterous

grasping." International Journal of Robotics Research 35(1): 161-185.38. https://www.pinterest.com/pin/258816309810082717/39. Kim, Y.-J. (2017). "Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction." IEEE

Transactions on Robotics 33(6): 1358-1374.40. https://www.1stdibs.com/furniture/more-furniture-collectibles/collectibles-curiosities/leather-prosthetic-arm-

hook-ring-circa-1920/id-f_3957363/41. https://emanthi-news.blogspot.it/2018/01/woman-receives-bionic-hand-with-sense.html42. http://stadnicki-daniel.com/index.php/2018/04/18/co-to-jest-amplifikacja-above-knee/43. https://www.prostheticbody.com/percutaneous-osseointegrated-prostheses-for-amputees/44. https://www.myo.com/45. http://br.kimiq.com/myo-bracelet/46. https://innprosthetics.com/patients/technology/47. Ottobock Michelangelo hand48. PISA/IIT Hand49. Ric arm50. SSSA-Myhand51. https://qph.fs.quoracdn.net/main-qimg-d540c9db64b2d896ac5e22471c5df870-c52. http://medchrome.com/wp-content/uploads/2010/06/electromyographyemg.jpg

References

https://www.ossur.com/prosthetic-solutions/products/sport-solutions/cheetah

https://www.1stdibs.com/furniture/more-furniture-collectibles/collectibles-curiosities/leather-prosthetic-arm-hook-ring-circa-1920/id-f_3957363/

https://emanthi-news.blogspot.it/2018/01/woman-receives-bionic-hand-with-sense.html

http://stadnicki-daniel.com/index.php/2018/04/18/co-to-jest-amplifikacja-above-knee/

http://br.kimiq.com/myo-bracelet/

https://innprosthetics.com/patients/technology/


53. Delft cylinder hand54. JTP hand55. https://www.ottobockus.com/prosthetics/lower-limb-prosthetics/solution-overview/x3-prosthetic-leg/56. ReMotion Knee57. https://www.youtube.com/watch?v=a9E0uHvfEcI58. https://en.wikipedia.org/wiki/Oscar_Pistorius59. https://www.ossur.com/prosthetic-solutions/products/sport-solutions/cheetah60. 15 DoF hand gosselin61. Programable hand gosselin62. Deimel, R. and O. Brock (2015). "A novel type of compliant and underactuated robotic hand for dexterous

grasping." International Journal of Robotics Research 35(1): 161-185.63. https://www.pinterest.com/pin/258816309810082717/64. Kim, Y.-J. (2017). "Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction." IEEE

Transactions on Robotics 33(6): 1358-1374.65. https://www.1stdibs.com/furniture/more-furniture-collectibles/collectibles-curiosities/leather-prosthetic-arm-

hook-ring-circa-1920/id-f_3957363/66. https://emanthi-news.blogspot.it/2018/01/woman-receives-bionic-hand-with-sense.html67. http://stadnicki-daniel.com/index.php/2018/04/18/co-to-jest-amplifikacja-above-knee/68. https://www.prostheticbody.com/percutaneous-osseointegrated-prostheses-for-amputees/69. https://www.myo.com/70. http://br.kimiq.com/myo-bracelet/71. https://innprosthetics.com/patients/technology/72. Ottobock Michelangelo hand73. PISA/IIT Hand74. Ric arm75. SSSA-Myhand76. https://qph.fs.quoracdn.net/main-qimg-d540c9db64b2d896ac5e22471c5df870-c77. http://medchrome.com/wp-content/uploads/2010/06/electromyographyemg.jpg78. http://www.mobiusbionics.com/luke-arm/#section-three

References

https://www.ossur.com/prosthetic-solutions/products/sport-solutions/cheetah

https://www.1stdibs.com/furniture/more-furniture-collectibles/collectibles-curiosities/leather-prosthetic-arm-hook-ring-circa-1920/id-f_3957363/

https://emanthi-news.blogspot.it/2018/01/woman-receives-bionic-hand-with-sense.html

http://stadnicki-daniel.com/index.php/2018/04/18/co-to-jest-amplifikacja-above-knee/

http://br.kimiq.com/myo-bracelet/

https://innprosthetics.com/patients/technology/


79. https://www.ittgroup.ee/en/sensors-and-accessories/965-inertial-measurement-unit-imu-mpu-9250.html80. http://www.simlab.co.kr/Allegro-Hand-Quote-Request.htm81. The SynTouch fingertip [55]82. Force/tactile sensor for robotic applications83. The Prensilia hand84. Shadow hand Air muscle version85. https://mediaserver.responsesource.com/press-release/27431/maxon-DCX-GPX-ENX-cut_4.jpg86. Belter, J. T., et al. (2013). "Mechanical Design and Performance Specifications of Anthropomorphic Prosthetic Hands:

A Review." J Rehabil Res Dev 50(5): 599-618.87. https://www.cpi-nj.com/what-is-a-linear-actuator/88. Smit, G., et al. (2015). "The Lightweight Delft Cylinder Hand: First Multi-Articulating Hand That Meets the Basic User

Requirements." IEEE Transactions on Neural Systems and Rehabilitation Engineering 23(3): 431-440.89. https://www.youtube.com/watch?v=vAU8DM8LaS490. Characteristics Analysis and Testing of SMA Spring Actuator91. https://www.youtube.com/watch?v=ORcx1Lv7iDc92. http://www.hydraulicspneumatics.com/other-technologies/it-looks-piece-hose-its-pneumatic-tensile-actuator93. https://www.festo.com/group/en/cms/10247.htm94. Maxon Dc motor95. Belter, J. T. and A. M. Dollar (2013). Novel differential mechanism enabling two DOF from a single actuator:

Application to a prosthetic hand. Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on.96. Fukaya, N., et al. (2000). Design of the TUAT/Karlsruhe Humanoid Hand. Intelligent Robots and Systems,

2000.(IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on, IEEE.97. Yasuhisa, K. and M. Takashi (2008). Underactuated Five-finger Prosthetic Hand Inspired by Grasping Force

Distribution of Humans. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

References

https://mediaserver.responsesource.com/press-release/27431/maxon-DCX-GPX-ENX-cut_4.jpg


http://www.hydraulicspneumatics.com/other-technologies/it-looks-piece-hose-its-pneumatic-tensile-actuator

https://www.festo.com/group/en/cms/10247.htm


98. Begoc, V., et al. (2007). Mechanical design of a new pneumatically driven underactuated hand. Robotics andAutomation, 2007 IEEE International Conference on, IEEE.

99. Laliberté, T., et al. (2002). "Underactuation in robotic grasping hands." Machine Intelligence & Robotic Control 4(3):1-11.

100. Xu, K. and H. Liu (2016). "Continuum Differential Mechanisms and Their Applications in Gripper Designs." IEEETransactions on Robotics 32(3): 754-762.

References

presentazione standard di powerpoint - prisma.unina.it · dr.huan liu & prof. fanny ficuciello...

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