THE HAND PROSTHESIS PROBLEMS

AND
THE TASKS OF THE PROSTHETICS DESIGNER TO
PROVIDE SOLUTIONS TO THESE PROBLEMS

Assist Prof .Dr. Jumaa Salman Chiad

The Human Hand
DESIGN OF HAND PROSTHESES
The mechanical design of the hand is based on
,biomechanical modeling of the natural hand )a( •
optimization of hand kinematics to enable )b( •
thumb opposition and humanlike grasps with
appropriate force distributions among fingers
underactuated mechanisms that allow the hand )c( •
to passively adapt to various object shapes
without any active control required by the user.
Underactuated mechanisms require few control
signals but can still endow the hand with many
.degrees of freedom (DoFs)
-Anatomy of The Human Hand -
Bones of the Hand (27) •
Joints of the Hand (19) •
UPPER LIMB AMPUTATION
The number of the upper limb amputation in
Iraq during the period (1990-2006)
1400

1200

1000
No. of Amputations

800

600

400

200

0
9 9 0 9 9 1 9 9 2 9 9 3 9 9 4 9 9 5 9 9 6 9 9 7 9 9 8 9 9 9 0 0 0 0 0 1 00 4 0 0 5 0 0 6
1 1 1 1 1 1 1 1 1 1 2 2 2 2 2
Years
COMMERCIAL HAND PROSTHESIS
Conventional hands are driven and controlled in one of two basic forms

Body-Powered Prosthesis -1
2 - Myo-electric prosthesis.
System Design Methodology
ΔΟΎ
Τϟ΍

Need

ΔϠ
ϜθϤϟ΍Ϟϴ
ϠΤΗ

Analysis of Problem

ΔϠ
ϜθϤϟ΍κ ϴ
ΨϠΗ

Statement of
Problem

ϲ Ϥϴ
Ϥμ Θ
ϟ΍Ϣ
Ϭϔϟ΍
έΎ
Ϝϓϻ΍ΝΎ
Θϧ΍
Conceptual design
Generation of ideas
ΓέΎ
ΘΨϤϟ΍ΔϤψϧϻ΍

Selected
schemes
ϑ ΍ΪϫϼϟΔΒδϨϟΎ
ΑϢ
ϴϴ
ϘΘ
ϟ΍

evaluation
ΔϤψϧϻ΍
ΪϴδΠΗ

Embodiment of schemes

Ϟϴ
μϔΘ
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ϊϴ
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Σήϣ΃ΪΑϭϢ
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ϠϤϋΔϳΎ
Ϭϧ
Detailing
End of design process

¿ ƈŷ
...žŚ ŕųų ŦƈƅŔ
Working
Drawing, etc.
Fig. Relative weight of users’ concerns
A partial taxonomy of grasps
the Shadow robot hand uses 40 air muscles to power its 24 joints.
Ideal grasping sequences 1
Ideal grasping sequences 2
Ideal grasping sequences 3
Ideal grasping sequences 4

The grasping is stable

DESIGN OF HAND PROSTHESES
:In general, to be successful, hand prostheses must fulfill the following ideal requirements

Functionality: The prosthetic device should perform a stable grasp with wide variety .1 •
;of objects with complex shapes
Dexterity: The hand should be dexterous (dexterity increases with the number of .2 •
degrees of freedom, with operation frequency, and with the accuracy in movement control
Controllability: the prosthesis should be easy to operate .3 •
Cosmetics: The device must be attractive, the prosthesis should have the same shape, .4 •
weight and dimensions of the human hand. Furthermore, the grasping movements should
be as natural as possible (i.e. The prosthesis should have the static and dynamic
appearance of the human hand.)
Light Weight: Prosthesis should be low in weight .5 •
Compact : The user population varies widely in the length of their residual limb, so any .6 •
device should retain all its drives and power sources within as small an envelope as
.possible, preferably within the hand profile
Quiet: The purpose of all prostheses is to provide the functional result without attracting .7 •
undue attention to the user. The sound of gears and motors or the escape of gas
Decision making:
1- simple comparison method

Ideas Preference
A B C D
(Alternatives) No.
A A C D 1
B C D 0
C C 3
D 2
 G.W
Weighting method -2
)ΣG.W method(
D C B A
Alternative
Weight W s (ideas)
G.W G G.W G G.W G G.W G
Factures
30 3 60 6 50 5 80 8 10 Comfort
32 4 40 5 32 4 56 7 8 Aesthetics
35 5 42 6 35 5 35 5 7 Life
5 1 10 2 15 3 20 4 5 Cost
6 2 6 2 3 1 9 3 3 Size
108  G .W 158 135 200

4th 2nd 3rd 1st Order

)Kepner-Tregos Method( -3
:‫وهذه الطريقة تصنف الخواص حسب األهمية إلى صنفين وهما‬
.)Must( ‫الخواص المفروضة أو يجب تحقيقيها من قبل النظام الجزئي وتسمى‬:‫الصنف األول‬
.)Want( ‫ الخواص المطلوبة تحقيقها وتسمى‬:‫الصنف الثاني‬
Alternatives
(ideas)

Importance
Weight
Objectives W
A B C D

Aesthetics Go Go Go No Go
Must

Go Go Go Go
Comfort
Go No Go Go No Go
Stability
W G GW G GW G GW G GW
Want

Weigh 7 5 35 - - 5 35 - -
Control 5 4 20 - - 3 15 - -
Noise 3 3 9 - - 1 3 - -
ΣG.W 64 - 53 -
Order 1st - 2nd -
Table : Comparison of present hand prosthesis with
commercial and MANUS prosthesis

Features Commercial MANUS Present hand

] [prosthesis ] [prosthesis prosthesis
Number of actuators 1 3 1

Number of axes 1 10 15

Cylindrical grip possible yes yes yes

Tip grip possible yes yes yes
Hook grip possible no yes yes
Lateral grip possible no yes yes
Overall weight (g) 500 1,200 524

Noise during activation No noise No noise No noise

 Regeneration-type
electrodes: 8. Decoding patient’s
1. “Biologically
3. Regeneration-type intentions and
Inspired”
electrode (efferent nerve) Embedded closed-loop
Mechatronic Hand
4. Regeneration-type control of the artificialhand

electrode (afferent nerve)

2. Embedded Biomimetic
Stump sensors:

5. Implanted neural interface: 6. Receiver - within the structure

􀂊 ENG efferent signals recording 7. Transmitter - within the glove
(patient’s intention detection)

􀂊 Afferent nerves stimulation (to

provide sensory feedback to the

patient
Thank you