Laura A. Miller, PhD, CP, Robert D. Lipschutz, CP, Kathy A

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Presentation transcript:

Control of a Six Degree of Freedom Prosthetic Arm After Targeted Muscle Reinnervation Surgery Laura A. Miller, PhD, CP, Robert D. Lipschutz, CP, Kathy A. Stubblefield, OT, Blair A. Lock, MS, He Huang, PhD, T. Walley Williams, MA, Richard F. Weir, PhD, Todd A. Kuiken, MD, PhD Archives of Physical Medicine and Rehabilitation Volume 89, Issue 11, Pages 2057-2065 (November 2008) DOI: 10.1016/j.apmr.2008.05.016 Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 1 On subject's left side: (A) The 3-DOF prosthesis consisting of nonpowered locking shoulder, passive humeral rotator, powered elbow, powered wrist rotator, and powered hook terminal device; (B) The 6-DOF prosthesis consisting of powered shoulder, humeral rotator, elbow, wrist rotator, wrist flexor, and hand. Archives of Physical Medicine and Rehabilitation 2008 89, 2057-2065DOI: (10.1016/j.apmr.2008.05.016) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 2 Marker configuration used in motion analysis. A total of 14 markers were used: 3 infrared reflective markers were placed on each rigid segment of the 6-function prosthesis: at the socket, the prosthetic upper-limb, the forearm, and the hand, and 2 additional markers were placed on the tip of thumb and index finger of the prosthetic hand for calculating the hand open and close motion. Archives of Physical Medicine and Rehabilitation 2008 89, 2057-2065DOI: (10.1016/j.apmr.2008.05.016) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 3 Timed tasks: (A) cubbies, (B) cups, (C) Box and Blocks, and (D) clothespin relocation task. Archives of Physical Medicine and Rehabilitation 2008 89, 2057-2065DOI: (10.1016/j.apmr.2008.05.016) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 4 Images of the subject reaching to his head to put on or take off a baseball cap. Archives of Physical Medicine and Rehabilitation 2008 89, 2057-2065DOI: (10.1016/j.apmr.2008.05.016) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 5 Four plots indicating the simultaneous control of elbow flexion/extension and hand open and close. (A) Task: elbow flexion + hand opening, (B) Task: elbow extension + hand close, (C) Task: elbow flexion + hand close, (D) Task: elbow extension + hand opening. Both joints were controlled by electromyographic control signal activity over targeted muscle reinnervation muscles. Archives of Physical Medicine and Rehabilitation 2008 89, 2057-2065DOI: (10.1016/j.apmr.2008.05.016) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 6 Frontal view of endpoint trajectory while the subject was performing circle drawing task. To remove any artifact from body movement impacting the graph, the point of reference is marker located on the shoulder (which was not actuated by the subject in this test). Archives of Physical Medicine and Rehabilitation 2008 89, 2057-2065DOI: (10.1016/j.apmr.2008.05.016) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 7 Joint phase plot between elbow flexion/extension angle and shoulder flexion/extension angle while the subject was performing (A) arm reaching up task and then (B) arm retracting. Zero in the vertical axis for elbow flexion and extension denotes full elbow extension. Horizontal and vertical lines indicate a single DOF moving, whereas slope areas are the phases of coactivation or joint synergy (ie, 2 joints moving together). The red stars indicate the initial joint position. Archives of Physical Medicine and Rehabilitation 2008 89, 2057-2065DOI: (10.1016/j.apmr.2008.05.016) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions