ARTIFICIAL                                   MECHANICAL SYSTEMS                                                for the    ...
2007-03-07 STATE OF THE ART IN UE PROSTHETICS2007-03-14 CONTROL2007-03-21 ACTUATION                                  ©   D...
Publisher: VSSD – Delftwww.vssd.nl/hlf/m011.htmISBN-13: 978-90-71301-75-9              ©   Dick H. Plettenburg, 2007
STATE OF THE ART                                                 IN                                   UPPER EXTREMITY     ...
PROSTHESIS                =ARTIFICIAL SUBSTITUTE OF A MISSING         PART OF THE BODY                           ©   Dick ...
•#• History• Classification• Suspension• Available prostheses• Concluding remarks                         ©   Dick H. Plet...
#    ©   Dick H. Plettenburg, 2007
NUMBER OF UPPER EXTREMITYPROSTHESES IN THE NETHERLANDS:   1350 CONGINITAL DEFECTS   2400 AQUIRED DEFECTS                  ...
History          ©   Dick H. Plettenburg, 2007
PROSTHESES IN THE PAST                         Egypt, 330 BC [Löffler, 1984]                                           ©  ...
PROSTHESES IN THE PAST             Florence, 15th century [Löffler, 1984]                                                 ...
PROSTHESES IN THE PAST   Götz von Berlichingen          1480 - 1562                        Götz von Berlichingen, ± 1504 [...
PROSTHESES IN THE PAST                         Johann Wolfgang Goethe, 1773                                ©   Dick H. Ple...
PROSTHESES IN THE PASTGötz von Berlichingen, 1509 [Borchardt et.al., 1919]                                                ...
PROSTHESES IN THE PAST  Ambroise Paré     1510 - 1590                         Ambroise Paré, 16th century [Löffler, 1984] ...
PROSTHESES IN THE PAST                                 Count of Beaufort, 1860                                 [Löffler, 1...
PROSTHESES IN THE PASTELECTRICAL                                 Borchardt et.al., 1919                         ©   Dick H...
PROSTHESES IN THE PASTPNEUMATICAL                                      Borchardt et.al., 1919                         ©   ...
Classification                 ©   Dick H. Plettenburg, 2007
CLASSIFICATION [ISO – 1989]   • congenital   • transverse   • longitudinal                              ©   Dick H. Plette...
Day, 1992©   Dick H. Plettenburg, 2007
Suspension             ©   Dick H. Plettenburg, 2007
SUSPENSION                 Borchardt et.al., 1919             ©   Dick H. Plettenburg, 2007
SUSPENSION • BELOW ELBOW PROSTHESES                                      Püschel, 1954                            ©   Dick...
SUSPENSION • BELOW ELBOW PROSTHESES             Kuhn, 1968               Billock, 1972                            ©   Dick...
Näder, 1990©   Dick H. Plettenburg, 2007
SUSPENSION • BELOW ELBOW PROSTHESES                                                   WILMER®                            ©...
SUSPENSION • ABOVE ELBOW PROSTHESES                            Bowker & Michael, 1992                            ©   Dick ...
SUSPENSION • SHOULDER DISARTICULATION PROSTHESES                                   Bowker & Michael, 1992                 ...
SUSPENSION • SHOULDER DISARTICULATION PROSTHESES                          Brillinger GmbH & Co. – www.brillinger.de       ...
SUSPENSION • SILICONE ROLL-ON SOCKET BELOW ELBOW   PROSTHESES                                               Össur, Iceland...
SUSPENSION • SILICONE ROLL-ON SOCKET ABOVE ELBOW           Sears & Rendi, 1999                                    ©   Dick...
SUSPENSION • EXPERIMENTAL: OSSEOINTEGRATION                                    Dr. P-I Brånemark, Sweden                  ...
SUSPENSION • EXPERIMENTAL: OSSEOINTEGRATION                                    Dr. P-I Brånemark, Sweden                  ...
SUSPENSION • EXPERIMENTAL: OSSEOINTEGRATION                                    Dr. P-I Brånemark, Sweden                  ...
Available prostheses                       ©   Dick H. Plettenburg, 2007
PROSTHESESCONTROL  ALWAYS BY THE BODY        MECHANICAL        ELECTRICALPOWER  FROM THE BODY  EXTERNALLY                 ...
©   Dick H. Plettenburg, 2007
raw EMG                                                   processed EMG             ISOLATION              ISOLATION      ...
TYPES OF PROSTHESES                 ©   Dick H. Plettenburg, 2007
PARTIAL HAND PROSTHESES • FINGER[S]                      Buckner & Michael, 1993                                    ©   Di...
PARTIAL HAND PROSTHESES • FINGER[S]                      Brillinger GmbH & Co. – www.brillinger.de                        ...
PARTIAL HAND PROSTHESES • THUMB                 Atkins & Meier, 1989                                        ©   Dick H. Pl...
PARTIAL HAND PROSTHESES • TRANSMETACARPAL                     Atkins & Meier, 1989                                        ...
PARTIAL HAND PROSTHESES • TRANSMETACARPAL                                       Näder, 1990                          ©   D...
PARTIAL HAND PROSTHESES • TRANSMETACARPAL                     Otto Bock Healthcare GmbH                                   ...
WRIST DISARTICULATION PROSTHESES                                        Borchardt et.al., 1919                           ©...
BELOW ELBOW PROSTHESES • SOCKET • WRIST • TERMINAL DEVICE: HAND                   HOOK                   TOOL             ...
BELOW ELBOW PROSTHESES • WRIST PROSTHESES                                        Otto Bock Healthcare GmbH             Hos...
BELOW ELBOW PROSTHESES • VOLUNTARY OPENING vs VOLUNTARY CLOSING                                   ©   Dick H. Plettenburg,...
BELOW ELBOW PROSTHESES • COSMETIC GLOVES RSL-Steeper, UK                         Otto Bock Healthcare GmbH                ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS                               Bowker & Michael, 1992       ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS                       Otto Bock Healthcare GmbH            ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS Hosmer Dorrance Co., USA                  TRS Inc., USA    ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS                                   ©   Dick H. Plettenburg, ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES                  Atkins & Meier, 1989 Insert: Hosmer Dorrance Co., ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS                       Näder, 1990                          ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS                                                 WILMER®    ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS                   Otto Bock Healthcare GmbH                ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS                             Otto Bock Healthcare GmbH      ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS                            Otto Bock Healthcare GmbH       ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS       lever                push rod              fingers  c...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS                                   WILMER®                  ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH                                  ...
BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - TOOLS                                           RSL-Steeper, UK O...
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS                                   Hosmer Dorrance Co....
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS                                         Hosmer Dorran...
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS                               Otto Bock Healthcare Gm...
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS                                            Hosmer Dor...
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS                                            RSL-Steepe...
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS                                  Otto Bock Healthcare...
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS                                                   RSL...
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS Motion Control, USA                                  ...
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS                    RSL-Steeper, UK                   ...
BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS                                  RSL-Steeper, UK     ...
ELBOW DISARTICULATION PROSTHESES                                RSL-Steeper, UK                  Näder, 1990              ...
ABOVE ELBOW PROSTHESES • BODY POWERED ELBOW PROSTHESES Otto Bock Healthcare GmbH                                   ©   Dic...
ABOVE ELBOW PROSTHESES • BODY POWERED ELBOW PROSTHESES                       Otto Bock Healthcare GmbH                    ...
ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES                                              VASI Inc., Canad...
ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES                      Hosmer Dorrance Co., USA                ...
ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES                                              LTI, USA        ...
ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES                             Motion Control, USA              ...
ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES                              Otto Bock Healthcare GmbH       ...
SHOULDER DISARTICULATION PROSTHESES • BODY POWERED Otto Bock Healthcare GmbH   ©   Dick H. Plettenburg, 2007
SHOULDER DISARTICULATION PROSTHESES • EXTERNALLY POWERED                          ©   Dick H. Plettenburg, 2007
SUMMARY  • PROSTHESIS DEFINITION  • PROSTHETIC SUSPENSION  • CONTROL vs ACTUATION  • BODY POWERED PROSTHESES  • EXTERNALLY...
Concluding remarks                     ©   Dick H. Plettenburg, 2007
PROSTHESES:  • Many different types available  • Many end up not being used:        40% non-wearers        60% non-users  ...
I miss … …my left hand!                ©   Dick H. Plettenburg, 2007
I want a prosthesis!                       ©   Dick H. Plettenburg, 2007
I want a prosthesis that:• is beautiful• is easy to wear• is easy to operate                            ©   Dick H. Plette...
©   Dick H. Plettenburg, 2007
Oh no! So ugly!                  ©   Dick H. Plettenburg, 2007
Otto Bock Healthcare GmbH,RSL-Steeper, UK                 ©   Dick H. Plettenburg, 2007
Hmm … , nice. But very heavy!                                ©   Dick H. Plettenburg, 2007
DELFT INSTITUTE                                    ofPROSTHETICS and ORTHOTICS                     home of WILMER Vermeldi...
DIPO, part of BioMechanical Engineering, developsprostheses that are:• beautiful               = Cosmesis• easy to wear   ...
Cosmesis:   outward appearanceComfort:    low massControl:    feedback important,            therefore mechanical prosthes...
Muscle stiffness & viscosity                                       Km(u0)         -r                +    +                ...
Collaborations:Rehabilitation CenterDe Hoogstraat, Utrecht                                   Rehabilitation Center        ...
2007-03-07 STATE OF THE ART IN UE PROSTHETICS2007-03-14   CONTROL2007-03-21 ACTUATION                                  ©  ...
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Biomechatronics - Lecture 5. Artificial mechanical systems for the upper extremities

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Biomechatronics - Lecture 5. Artificial mechanical systems for the upper extremities

  1. 1. ARTIFICIAL MECHANICAL SYSTEMS for the UPPER EXTREMITY DICK H. PLETTENBURGBIOMECHATRONICS WB2432 Vermelding onderdeel organisatie
  2. 2. 2007-03-07 STATE OF THE ART IN UE PROSTHETICS2007-03-14 CONTROL2007-03-21 ACTUATION © Dick H. Plettenburg, 2007
  3. 3. Publisher: VSSD – Delftwww.vssd.nl/hlf/m011.htmISBN-13: 978-90-71301-75-9 © Dick H. Plettenburg, 2007
  4. 4. STATE OF THE ART IN UPPER EXTREMITY PROSTHETICSVermelding onderdeel organisatie
  5. 5. PROSTHESIS =ARTIFICIAL SUBSTITUTE OF A MISSING PART OF THE BODY © Dick H. Plettenburg, 2007
  6. 6. •#• History• Classification• Suspension• Available prostheses• Concluding remarks © Dick H. Plettenburg, 2007
  7. 7. # © Dick H. Plettenburg, 2007
  8. 8. NUMBER OF UPPER EXTREMITYPROSTHESES IN THE NETHERLANDS: 1350 CONGINITAL DEFECTS 2400 AQUIRED DEFECTS Van Dijk, 2004 © Dick H. Plettenburg, 2007
  9. 9. History © Dick H. Plettenburg, 2007
  10. 10. PROSTHESES IN THE PAST Egypt, 330 BC [Löffler, 1984] © Dick H. Plettenburg, 2007
  11. 11. PROSTHESES IN THE PAST Florence, 15th century [Löffler, 1984] © Dick H. Plettenburg, 2007
  12. 12. PROSTHESES IN THE PAST Götz von Berlichingen 1480 - 1562 Götz von Berlichingen, ± 1504 [Löffler, 1984] © Dick H. Plettenburg, 2007
  13. 13. PROSTHESES IN THE PAST Johann Wolfgang Goethe, 1773 © Dick H. Plettenburg, 2007
  14. 14. PROSTHESES IN THE PASTGötz von Berlichingen, 1509 [Borchardt et.al., 1919] © Dick H. Plettenburg, 2007
  15. 15. PROSTHESES IN THE PAST Ambroise Paré 1510 - 1590 Ambroise Paré, 16th century [Löffler, 1984] © Dick H. Plettenburg, 2007
  16. 16. PROSTHESES IN THE PAST Count of Beaufort, 1860 [Löffler, 1984] © Dick H. Plettenburg, 2007
  17. 17. PROSTHESES IN THE PASTELECTRICAL Borchardt et.al., 1919 © Dick H. Plettenburg, 2007
  18. 18. PROSTHESES IN THE PASTPNEUMATICAL Borchardt et.al., 1919 © Dick H. Plettenburg, 2007
  19. 19. Classification © Dick H. Plettenburg, 2007
  20. 20. CLASSIFICATION [ISO – 1989] • congenital • transverse • longitudinal © Dick H. Plettenburg, 2007
  21. 21. Day, 1992© Dick H. Plettenburg, 2007
  22. 22. Suspension © Dick H. Plettenburg, 2007
  23. 23. SUSPENSION Borchardt et.al., 1919 © Dick H. Plettenburg, 2007
  24. 24. SUSPENSION • BELOW ELBOW PROSTHESES Püschel, 1954 © Dick H. Plettenburg, 2007
  25. 25. SUSPENSION • BELOW ELBOW PROSTHESES Kuhn, 1968 Billock, 1972 © Dick H. Plettenburg, 2007
  26. 26. Näder, 1990© Dick H. Plettenburg, 2007
  27. 27. SUSPENSION • BELOW ELBOW PROSTHESES WILMER® © Dick H. Plettenburg, 2007
  28. 28. SUSPENSION • ABOVE ELBOW PROSTHESES Bowker & Michael, 1992 © Dick H. Plettenburg, 2007
  29. 29. SUSPENSION • SHOULDER DISARTICULATION PROSTHESES Bowker & Michael, 1992 © Dick H. Plettenburg, 2007
  30. 30. SUSPENSION • SHOULDER DISARTICULATION PROSTHESES Brillinger GmbH & Co. – www.brillinger.de © Dick H. Plettenburg, 2007
  31. 31. SUSPENSION • SILICONE ROLL-ON SOCKET BELOW ELBOW PROSTHESES Össur, Iceland © Dick H. Plettenburg, 2007
  32. 32. SUSPENSION • SILICONE ROLL-ON SOCKET ABOVE ELBOW Sears & Rendi, 1999 © Dick H. Plettenburg, 2007
  33. 33. SUSPENSION • EXPERIMENTAL: OSSEOINTEGRATION Dr. P-I Brånemark, Sweden © Dick H. Plettenburg, 2007
  34. 34. SUSPENSION • EXPERIMENTAL: OSSEOINTEGRATION Dr. P-I Brånemark, Sweden © Dick H. Plettenburg, 2007
  35. 35. SUSPENSION • EXPERIMENTAL: OSSEOINTEGRATION Dr. P-I Brånemark, Sweden © Dick H. Plettenburg, 2007
  36. 36. Available prostheses © Dick H. Plettenburg, 2007
  37. 37. PROSTHESESCONTROL ALWAYS BY THE BODY MECHANICAL ELECTRICALPOWER FROM THE BODY EXTERNALLY © Dick H. Plettenburg, 2007
  38. 38. © Dick H. Plettenburg, 2007
  39. 39. raw EMG processed EMG ISOLATION ISOLATION AMPLIFIER AMPLIFIER DIFFERENTIAL DIFFERENTIAL BANDPASS BANDPASS POST- POST-electrodes DEMODULATOR DEMODULATOR SMOOTHER SMOOTHER AMPLIFIER AMPLIFIER FILTER FILTER PROCESSOR PROCESSOR ISOLATION ISOLATION AMPLIFIER AMPLIFIER these elements detect EMG from these elements decode the raw EMGreference among the ambient electrical “noise”electrode © Dick H. Plettenburg, 2007
  40. 40. TYPES OF PROSTHESES © Dick H. Plettenburg, 2007
  41. 41. PARTIAL HAND PROSTHESES • FINGER[S] Buckner & Michael, 1993 © Dick H. Plettenburg, 2007
  42. 42. PARTIAL HAND PROSTHESES • FINGER[S] Brillinger GmbH & Co. – www.brillinger.de © Dick H. Plettenburg, 2007
  43. 43. PARTIAL HAND PROSTHESES • THUMB Atkins & Meier, 1989 © Dick H. Plettenburg, 2007
  44. 44. PARTIAL HAND PROSTHESES • TRANSMETACARPAL Atkins & Meier, 1989 © Dick H. Plettenburg, 2007
  45. 45. PARTIAL HAND PROSTHESES • TRANSMETACARPAL Näder, 1990 © Dick H. Plettenburg, 2007
  46. 46. PARTIAL HAND PROSTHESES • TRANSMETACARPAL Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  47. 47. WRIST DISARTICULATION PROSTHESES Borchardt et.al., 1919 © Dick H. Plettenburg, 2007
  48. 48. BELOW ELBOW PROSTHESES • SOCKET • WRIST • TERMINAL DEVICE: HAND HOOK TOOL © Dick H. Plettenburg, 2007
  49. 49. BELOW ELBOW PROSTHESES • WRIST PROSTHESES Otto Bock Healthcare GmbH Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  50. 50. BELOW ELBOW PROSTHESES • VOLUNTARY OPENING vs VOLUNTARY CLOSING © Dick H. Plettenburg, 2007
  51. 51. BELOW ELBOW PROSTHESES • COSMETIC GLOVES RSL-Steeper, UK Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  52. 52. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS Bowker & Michael, 1992 © Dick H. Plettenburg, 2007
  53. 53. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  54. 54. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS Hosmer Dorrance Co., USA TRS Inc., USA © Dick H. Plettenburg, 2007
  55. 55. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HOOKS © Dick H. Plettenburg, 2007
  56. 56. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES Atkins & Meier, 1989 Insert: Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  57. 57. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Näder, 1990 © Dick H. Plettenburg, 2007
  58. 58. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS WILMER® © Dick H. Plettenburg, 2007
  59. 59. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  60. 60. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  61. 61. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  62. 62. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS lever push rod fingers control cable wrist prosthesis closing spring thumb WILMER® © Dick H. Plettenburg, 2007
  63. 63. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS WILMER® © Dick H. Plettenburg, 2007
  64. 64. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  65. 65. BELOW ELBOW PROSTHESES • BODY POWERED TERMINAL DEVICES - TOOLS RSL-Steeper, UK Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  66. 66. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  67. 67. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  68. 68. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  69. 69. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  70. 70. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HOOKS RSL-Steeper, UK © Dick H. Plettenburg, 2007
  71. 71. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  72. 72. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS RSL-Steeper, UK © Dick H. Plettenburg, 2007
  73. 73. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS Motion Control, USA © Dick H. Plettenburg, 2007
  74. 74. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS RSL-Steeper, UK © Dick H. Plettenburg, 2007
  75. 75. BELOW ELBOW PROSTHESES • EXTERNALLY POWERED TERMINAL DEVICES - HANDS RSL-Steeper, UK Centri AG, Sweden Otto Bock Healthcare GmbH VASI Inc., Canada © Dick H. Plettenburg, 2007
  76. 76. ELBOW DISARTICULATION PROSTHESES RSL-Steeper, UK Näder, 1990 © Dick H. Plettenburg, 2007
  77. 77. ABOVE ELBOW PROSTHESES • BODY POWERED ELBOW PROSTHESES Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  78. 78. ABOVE ELBOW PROSTHESES • BODY POWERED ELBOW PROSTHESES Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  79. 79. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES VASI Inc., Canada © Dick H. Plettenburg, 2007
  80. 80. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES Hosmer Dorrance Co., USA © Dick H. Plettenburg, 2007
  81. 81. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES LTI, USA © Dick H. Plettenburg, 2007
  82. 82. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES Motion Control, USA © Dick H. Plettenburg, 2007
  83. 83. ABOVE ELBOW PROSTHESES • EXTERNALLY POWERED ELBOW PROSTHESES Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  84. 84. SHOULDER DISARTICULATION PROSTHESES • BODY POWERED Otto Bock Healthcare GmbH © Dick H. Plettenburg, 2007
  85. 85. SHOULDER DISARTICULATION PROSTHESES • EXTERNALLY POWERED © Dick H. Plettenburg, 2007
  86. 86. SUMMARY • PROSTHESIS DEFINITION • PROSTHETIC SUSPENSION • CONTROL vs ACTUATION • BODY POWERED PROSTHESES • EXTERNALLY POWERED PROSTHESES © Dick H. Plettenburg, 2007
  87. 87. Concluding remarks © Dick H. Plettenburg, 2007
  88. 88. PROSTHESES: • Many different types available • Many end up not being used: 40% non-wearers 60% non-users • Worldwide research efforts to improve prosthetic performance • Focus of most research is wrong! © Dick H. Plettenburg, 2007
  89. 89. I miss … …my left hand! © Dick H. Plettenburg, 2007
  90. 90. I want a prosthesis! © Dick H. Plettenburg, 2007
  91. 91. I want a prosthesis that:• is beautiful• is easy to wear• is easy to operate © Dick H. Plettenburg, 2007
  92. 92. © Dick H. Plettenburg, 2007
  93. 93. Oh no! So ugly! © Dick H. Plettenburg, 2007
  94. 94. Otto Bock Healthcare GmbH,RSL-Steeper, UK © Dick H. Plettenburg, 2007
  95. 95. Hmm … , nice. But very heavy! © Dick H. Plettenburg, 2007
  96. 96. DELFT INSTITUTE ofPROSTHETICS and ORTHOTICS home of WILMER Vermelding onderdeel organisatie
  97. 97. DIPO, part of BioMechanical Engineering, developsprostheses that are:• beautiful = Cosmesis• easy to wear = Comfort The three C’s• easy to operate = Control © Dick H. Plettenburg, 2007
  98. 98. Cosmesis: outward appearanceComfort: low massControl: feedback important, therefore mechanical prostheses © Dick H. Plettenburg, 2007
  99. 99. Muscle stiffness & viscosity Km(u0) -r + + Bm (u0) -ru0 Mex α + Hact r 1/Jm ∫ ∫+ + F M θ τ Kf τ kv -r + τ kp -r Muscle spindle © Dick H. Plettenburg, 2007
  100. 100. Collaborations:Rehabilitation CenterDe Hoogstraat, Utrecht Rehabilitation Center Sint Maartenskliniek, Nijmegen © Dick H. Plettenburg, 2007
  101. 101. 2007-03-07 STATE OF THE ART IN UE PROSTHETICS2007-03-14 CONTROL2007-03-21 ACTUATION © Dick H. Plettenburg, 2007

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