Evaluating reachable workspace and user control over prehensor aperture for a body-powered prosthesis

Chadwell, AEA ORCID: https://orcid.org/0000-0002-9101-5202, Kenney, LPJ ORCID: https://orcid.org/0000-0003-2164-3892, Howard, D, Ssekitoleko, RT, Nakandi, BT and Head, JS ORCID: https://orcid.org/0000-0002-3483-3903 2020, 'Evaluating reachable workspace and user control over prehensor aperture for a body-powered prosthesis' , IEEE Transactions on Neural Systems and Rehabilitation Engineering .

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Abstract

Using a shoulder harness and control cable, a person can control the opening and closing of a bodypowered prosthesis prehensor. In many setups the cable does not pass adjacent to the shoulder joint center allowing shoulder flexion on the prosthetic side to be used for prehensor control. However, this makes cable setup a difficult compromise as prosthesis control is dependent on arm posture; too short and the space within which a person can reach may be unduly restricted, too long and the user may not be able to move their shoulder sufficiently to take up the inevitable slack at some postures and hence have no control over prehensor movement. Despite the fundamental importance of reachable workspace to users, to date there have been no studies in prosthetics on this aspect. Here, a methodology is presented to quantify the reduction in the reachable volume due to the harness, and to record the range-of-motion of the prehensor at a series of locations within the reachable workspace. Ten anatomically intact participants were assessed using a body-powered prosthesis simulator. Data was collected using a 3D motion capture system and an electronic goniometer. The harnessed reachable workspace was 38-85% the size of the unharnessed volume with participants struggling to reach across the body and above the head. Across all arm postures assessed, participants were only able to achieve full prehensor range-of-motion in 9%. The methodologies presented could be used to evaluate future designs of both body-powered and myoelectric prostheses.

Item Type: Article
Schools: Schools > School of Health and Society
Journal or Publication Title: IEEE Transactions on Neural Systems and Rehabilitation Engineering
Publisher: IEEE
ISSN: 1534-4320
Related URLs:
Funders: Engineering and Physical Sciences Research Council (EPSRC)
Depositing User: USIR Admin
Date Deposited: 28 Jul 2020 08:20
Last Modified: 28 Jul 2020 08:30
URI: http://usir.salford.ac.uk/id/eprint/57728

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