Cutti Andrea Giovanni, Cordella Francesca, D'Amico Giulia, Sacchetti Rinaldo, Davalli Angelo, Guglielmelli Eugenio, Zollo Loredana
Centro Protesi INAIL, Vigorso di Budrio (BO), Rome, Italy.
Unit of Biomedical Robotics and Biomicrosystems, Università Campus Bio-Medico di Roma, Rome, Italy.
Artif Organs. 2017 Dec;41(12):E337-E346. doi: 10.1111/aor.13006. Epub 2017 Oct 13.
To provide upper-limb amputees with devices that best fit their needs and to test innovative solutions, it is necessary to quantitatively appraise a device performance with rigorous measurement methods. The aim of this work was to define an optimal motion analysis protocol, suitable for optoelectronic systems, to measure the kinematics of poly-articulated hands even when covered by a cosmetic glove. This is a fundamental aspect, because gloves can decrease device speed and range of motion and, ultimately, patients' acceptance of the artificial limb. In this work, different mathematical models of the joints and marker-sets for motion analysis were conceived. A regression model to choose a reduced marker-set for studying the hand performance with different cosmetic glove models was developed. The proposed approaches for finger motion analysis were experimentally tested on the index finger of the i-Limb, a commercial myoelectric poly-articulated prosthetic hand, but the results can be easily extended to the whole hand and to other poly-articulated prosthetic hands. The methods proposed for the performance analysis of prosthetic hands points out that the cosmetic gloves imply a reduction of the finger flexion/extension (F/E) angles and of the motion velocity. This draws attention to the need for performing independent cyclic tests on commercial products with various cosmetic solutions to better guide component selection.
为上肢截肢者提供最符合其需求的设备并测试创新解决方案，有必要采用严格的测量方法对设备性能进行定量评估。这项工作的目的是定义一种适用于光电系统的最佳运动分析协议，用于测量多关节手部的运动学，即使手部被美容手套覆盖时也能测量。这是一个基本方面，因为手套会降低设备的速度和运动范围，并最终影响患者对假肢的接受度。在这项工作中，构思了用于运动分析的不同关节数学模型和标记集。开发了一种回归模型，用于选择简化的标记集，以便在不同美容手套模型下研究手部性能。所提出的手指运动分析方法在i-Limb（一款商用肌电多关节假手）的食指上进行了实验测试，但结果可轻松扩展到整个手部以及其他多关节假手。所提出的假手性能分析方法指出，美容手套会导致手指屈伸（F/E）角度和运动速度降低。这凸显了对带有各种美容解决方案的商业产品进行独立循环测试的必要性，以便更好地指导组件选择。
