A new prosthetic hand with a fixed thumb and four fingers actuated by Shape Memory Alloy （SMA） type artificial muscle has been developed in this paper. Different from typical geared motor, SMA actuator is lightweigh...A new prosthetic hand with a fixed thumb and four fingers actuated by Shape Memory Alloy （SMA） type artificial muscle has been developed in this paper. Different from typical geared motor, SMA actuator is lightweight and silent, however shows a little short stroke and small attracting force per each unit. In order to achieve enough output force and motion range of each finger, multiple SMA type artificial muscles with special device which facilitates enough length are equipped in the hand. The fundamental properties of the SMA type artificial muscle including output force and electrical response were determined experimentally and considered for the design of hand mechanism. Besides, the structure of each finger and whole system has been designed based on observation of human hand. The electrical hardware to control multiple shape memory alloy type artificial muscles has been also developed. Finally, the usefulness of the prosthetic hand has been investigated through experiments for grasping several types of objects.展开更多
Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize...Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize on computer,and has no limit on contact points for each finger. Analyses for grasping stability with single contact point of typical objects with different curvature proved the effectiveness of the method proposed and optimal grasp examples are given as well.展开更多
The dynamics properties of a kind of multi-fingered robot hand is analyzed. It is pointed out that the dynamics property of this kind of multifingered robot hand in the approaching process is quite different from that...The dynamics properties of a kind of multi-fingered robot hand is analyzed. It is pointed out that the dynamics property of this kind of multifingered robot hand in the approaching process is quite different from that in the grasping process and,different control algorithm should be taken in the two process. A position-force hybrid control algorithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully.展开更多
Aim It is our opinion that the CDC and the WHO have underestimated cross-contamination under examination gloves in dental clinics while wearing jewelry, such as finger rings. These agencies only ＂recommend＂ removing...Aim It is our opinion that the CDC and the WHO have underestimated cross-contamination under examination gloves in dental clinics while wearing jewelry, such as finger rings. These agencies only ＂recommend＂ removing jewelry, and only washing hands for 15 seconds with soap and warm water before donning gloves. This study examined several washing procedures and finger rings using simulated microbes. Methodology A gloved robber hand manikin was made and fitted with a flesh disposable vinyl glove. Four fingers were fitted with rings or no ring, dusted with simulated microbes, and washed with a scrub brush for 5, 15, and 25 seconds under 20℃ and 40℃ water alone, or with liquid hand soap. Light levels （in lux） of fluorescent powder before and after washing were measured and delta scores calculated for changes in light levels, equivalent to effectiveness of hand washing procedures. A full-factorial, 3-factor analysis of variance （ANOVA） was used to test for differences among levels of the three study factors-time, temperature, and soap use. Tukey＇s post hoc honestly significant difference （HSD） test was applied to significant factors to examine pair-wise differences between factor levels. Results It was found that the longer the hands with rings were washed with a scrub brush under flowing water, the more simulated microbes were removed. By 25 seconds, all methods were essentially the same. Simulated microbes were more difficult to remove from the palm compared to the back of the hand. The liquid hand soap used in this study was more effective with warm water than cold. When given a choice of washing with cold water up to 15 seconds, it would be preferable not to use soap to remove simulated microbes. Qualitatively, the outer surface of finger rings were more effectively cleaned than the crevice below the ring, and the ring with a stone setting appeared to accumulate and retain simulated microbes more than other rings. Conclusion The most effective treatment was washing with warm water and liquid soap. Longer times were more effective. Rings should not be worn under examination gloves due to difficulty cleaning in the crevice under the ring, and the well-known consequences of cross-contamination between the patient and the health care worker.展开更多
One of the major problems faced by hand amputees is the unavailability of a lightweight and powered multi-functional hand prosthesis. Under-actuated finger designs play a key role to make the hand prosthesis lightweig...One of the major problems faced by hand amputees is the unavailability of a lightweight and powered multi-functional hand prosthesis. Under-actuated finger designs play a key role to make the hand prosthesis lightweight. In this paper, a hand prosthesis with an under-actuated and self-adaptive finger mechanism is proposed. The proposed finger is capable to generate passively different flexion/extension angles for a proximal interphalangeal (PIP) joint and a distal interphalangeal (DIP) joint for each flexion angle of metacarpophalangeal (MCP) joint. In addition, DIP joint is capable to generate different angles for the same angle of PIP joint. Hand prosthesis is built on the proposed finger mechanism. The hand prosthesis enables user to grasp objects with various geometries by performing five grasping patterns. Thumb of the hand prosthesis includes opposition/apposition in addition to flexion/extension of MCP and interphalangeal (IP) joint. Kinematic analysis of the proposed finger has been carried out to verify the movable range of the joints. Simulations and experiments are carried out to verify the effectiveness of the proposed finger mechanism and the hand prosthesis.展开更多
We report a case of blast injury to the left hand which resulted in fractures of the fingers with exposure of bones and joints of the phalanges. We used three reverse adipofascial cross finger flaps raised at the same...We report a case of blast injury to the left hand which resulted in fractures of the fingers with exposure of bones and joints of the phalanges. We used three reverse adipofascial cross finger flaps raised at the same time from 2 fingers to reconstruct adjacent fingers of the patient. The patient recovered well postoperatively and had good range of movement of the fingers. This avoided the complications of the use of regional or distal flaps. To our knowledge, this is the first case reported in which three reverse adipofascial cross fingers flaps are raised at the same time, two of them from an injured finger, to cover three raw areas on two fingers of a patient.展开更多
This paper engages in the discussion about nonverbal intercultural communication from the perspective of hand and finger gestures,probing into the functions of non-verbal cues in cross-cultural interaction,talking ove...This paper engages in the discussion about nonverbal intercultural communication from the perspective of hand and finger gestures,probing into the functions of non-verbal cues in cross-cultural interaction,talking over two different attitudes toward gestures,and giving a detailed analysis about the silent language of some specific gestures with fingers and hands in different cultures.展开更多
According to the sampling statistics there are over 7 millions limb disabled persons in China from several times of those in the world. For the benefit to the amputees, thousands varies kinds of commencial Products of...According to the sampling statistics there are over 7 millions limb disabled persons in China from several times of those in the world. For the benefit to the amputees, thousands varies kinds of commencial Products of artificial hands, by scientific promotion have ben developed in the recent half century. Among those products the EMG controlling artificial upper limb brings the hope to the amputees. The later are now used widely form the earlest one in 1948.In 1978, Shanghai Jiao Tong University began to study and develop the EMG controlling artificial band mounted to amputes over thousand disabled during a couple of recent decades.The risidual muscles of an amputee are the signal source of the artificial hand controlled by EMG. The evoked EMG which can transmit the brain moving information is one of the bioelectricities from human body. The EMG signal, accumulated at skin surface with surface electrodes, passing through filtering and amplifying circuits controls the movement-this is the main principle of EMG controlling artificial hand.But, owing to the weakness of EMG (μv) and a group of muscles information plus the strong turbulence of electric field (v), the integrated EMG can’t completely reflect the brain moving act and will influence the accuracy of EMG-hand, especially those of the multi-multi-degree of freedom.In 1978, only 57% of the controlling aaccuracy of artificial hand with 3-degree of freedom could be reached by the Herbert’s research. In 80’s, the controlling accuracy raised up to 72% by Denning’s new method. Up to now, the accuracy is still not ideal, eventhrogh the Hi-tech of using pattern-recognitionand artincial neuro-net work. The electronic artificial hand will be considered successful and practical only with the moving accuracy more than 95%.Some research by using implant electrode for detecting the neuro-information or EEG controllingmethod met also dimculties for raising the accuracy of artificial hand.For breaking througll the threshold of accuracy limit, the EMG method as mentioned above must bechanged entirely, A newest creative research work on the electronic artificial hand controlled by a "regenerated finger" made by transplanting a toe to the stump is developing in Shanghai Jiao TongUniversity, which is without precedent in the world.The first experimental amputee using "regenerated finger’ to control an electronic artificial forearm with 3-degree of freedom reaches 100% accuracy of movements (i.e. no error within 100 tests). It has been proved that the use of a "regenerated finger" as a controlling signal command makes it possible to use the electronic artificeal hand with multi-degree of freedom without error Thecombining medical science with engineering in the area of designing an electronic artifical upper limb.Acknowledgement: The authors extend their hearty thanks to the famous academician Dr.Chen Zhongwei (Zhong-Sen Hospital) for their creative effort and successful micro-surgical operation for transplanting toe to stump of an amputee, also to the China Science Foundation for supporting. us the fund to develop this research.展开更多
目的探讨基于镜像理论指导下的运动处方对断指再植术后患者再植断指恢复的影响。方法选取郑州市骨科医院2021年7月至2023年7月收治的89例断指再植术术后患者,使用信封随机抽取住院号方式分为两组。对照组44例患者给予常规康复训练运动处...目的探讨基于镜像理论指导下的运动处方对断指再植术后患者再植断指恢复的影响。方法选取郑州市骨科医院2021年7月至2023年7月收治的89例断指再植术术后患者,使用信封随机抽取住院号方式分为两组。对照组44例患者给予常规康复训练运动处方,研究组45例患者给予基于镜像理论指导下的运动处方,两组患者均干预12周。比较两组患者干预前后手指活动度[手指关节总主动活动度(total angle of motion,TAM)]、手功能[Michigan手功能评估量表(Michigan hand outcomes questionnaire,MHQ)]、断指再植功能(中华医学会手外科学会断指再植功能评定试用标准)、断指感觉功能[静态两点辨别觉(static two-point discrimination,S2PD)]及生活质量[Barthel评分(Barthel index,BI)]。结果两组患者干预前MHQ、TAM、S2PD评分及BI评分差异无统计学意义(P>0.05),干预后两组患者均有不同程度改善。研究组患者工作能力评分(72.41±5.26)分、整体手功能评分(79.63±3.81)分、日常活动评分(81.19±4.72)分、对手功能的满意度评分(73.69±5.38)分、外观评分(63.48±6.32)分,均高于对照组患者工作能力评分(61.28±6.38)分、整体手功能评分(74.35±4.68)分、日常活动评分(76.47±5.69)分、对手功能的满意度评分(67.35±5.64)分、外观评分(56.37±6.57)分,研究组疼痛评分(48.34±7.88)分低于对照组(54.48±7.61)分(P<0.05)。研究组患者干预后TAM评分(151.64±10.96)分、BI评分(77.58±5.48)分,高于对照组患者TAM评分(139.19±10.37)分、BI评分(73.49±5.36)分;研究组S2PD(9.56±2.14)mm低于对照组(12.69±2.43)mm(P<0.05)。两组患者干预前断指功能评分差异无统计学意义(P>0.05),干预后两组患者均有提升,研究组患者断指功能评分(82.68±6.51)分、干预后断指再植功能优秀率24.44%,高于对照组患者断指功能评分(75.39±6.34)分、干预后断指再植功能优秀率6.82%(P<0.05)。结论基于镜像理论指导下的运动处方可有效提升断指再植术后患者手指关节活动度及感觉功能,促进再植断指功能恢复,改善患者生活质量。展开更多
文摘A new prosthetic hand with a fixed thumb and four fingers actuated by Shape Memory Alloy （SMA） type artificial muscle has been developed in this paper. Different from typical geared motor, SMA actuator is lightweight and silent, however shows a little short stroke and small attracting force per each unit. In order to achieve enough output force and motion range of each finger, multiple SMA type artificial muscles with special device which facilitates enough length are equipped in the hand. The fundamental properties of the SMA type artificial muscle including output force and electrical response were determined experimentally and considered for the design of hand mechanism. Besides, the structure of each finger and whole system has been designed based on observation of human hand. The electrical hardware to control multiple shape memory alloy type artificial muscles has been also developed. Finally, the usefulness of the prosthetic hand has been investigated through experiments for grasping several types of objects.
文摘Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize on computer,and has no limit on contact points for each finger. Analyses for grasping stability with single contact point of typical objects with different curvature proved the effectiveness of the method proposed and optimal grasp examples are given as well.
文摘The dynamics properties of a kind of multi-fingered robot hand is analyzed. It is pointed out that the dynamics property of this kind of multifingered robot hand in the approaching process is quite different from that in the grasping process and,different control algorithm should be taken in the two process. A position-force hybrid control algorithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully.
文摘Aim It is our opinion that the CDC and the WHO have underestimated cross-contamination under examination gloves in dental clinics while wearing jewelry, such as finger rings. These agencies only ＂recommend＂ removing jewelry, and only washing hands for 15 seconds with soap and warm water before donning gloves. This study examined several washing procedures and finger rings using simulated microbes. Methodology A gloved robber hand manikin was made and fitted with a flesh disposable vinyl glove. Four fingers were fitted with rings or no ring, dusted with simulated microbes, and washed with a scrub brush for 5, 15, and 25 seconds under 20℃ and 40℃ water alone, or with liquid hand soap. Light levels （in lux） of fluorescent powder before and after washing were measured and delta scores calculated for changes in light levels, equivalent to effectiveness of hand washing procedures. A full-factorial, 3-factor analysis of variance （ANOVA） was used to test for differences among levels of the three study factors-time, temperature, and soap use. Tukey＇s post hoc honestly significant difference （HSD） test was applied to significant factors to examine pair-wise differences between factor levels. Results It was found that the longer the hands with rings were washed with a scrub brush under flowing water, the more simulated microbes were removed. By 25 seconds, all methods were essentially the same. Simulated microbes were more difficult to remove from the palm compared to the back of the hand. The liquid hand soap used in this study was more effective with warm water than cold. When given a choice of washing with cold water up to 15 seconds, it would be preferable not to use soap to remove simulated microbes. Qualitatively, the outer surface of finger rings were more effectively cleaned than the crevice below the ring, and the ring with a stone setting appeared to accumulate and retain simulated microbes more than other rings. Conclusion The most effective treatment was washing with warm water and liquid soap. Longer times were more effective. Rings should not be worn under examination gloves due to difficulty cleaning in the crevice under the ring, and the well-known consequences of cross-contamination between the patient and the health care worker.
文摘One of the major problems faced by hand amputees is the unavailability of a lightweight and powered multi-functional hand prosthesis. Under-actuated finger designs play a key role to make the hand prosthesis lightweight. In this paper, a hand prosthesis with an under-actuated and self-adaptive finger mechanism is proposed. The proposed finger is capable to generate passively different flexion/extension angles for a proximal interphalangeal (PIP) joint and a distal interphalangeal (DIP) joint for each flexion angle of metacarpophalangeal (MCP) joint. In addition, DIP joint is capable to generate different angles for the same angle of PIP joint. Hand prosthesis is built on the proposed finger mechanism. The hand prosthesis enables user to grasp objects with various geometries by performing five grasping patterns. Thumb of the hand prosthesis includes opposition/apposition in addition to flexion/extension of MCP and interphalangeal (IP) joint. Kinematic analysis of the proposed finger has been carried out to verify the movable range of the joints. Simulations and experiments are carried out to verify the effectiveness of the proposed finger mechanism and the hand prosthesis.
文摘We report a case of blast injury to the left hand which resulted in fractures of the fingers with exposure of bones and joints of the phalanges. We used three reverse adipofascial cross finger flaps raised at the same time from 2 fingers to reconstruct adjacent fingers of the patient. The patient recovered well postoperatively and had good range of movement of the fingers. This avoided the complications of the use of regional or distal flaps. To our knowledge, this is the first case reported in which three reverse adipofascial cross fingers flaps are raised at the same time, two of them from an injured finger, to cover three raw areas on two fingers of a patient.
文摘This paper engages in the discussion about nonverbal intercultural communication from the perspective of hand and finger gestures,probing into the functions of non-verbal cues in cross-cultural interaction,talking over two different attitudes toward gestures,and giving a detailed analysis about the silent language of some specific gestures with fingers and hands in different cultures.
文摘According to the sampling statistics there are over 7 millions limb disabled persons in China from several times of those in the world. For the benefit to the amputees, thousands varies kinds of commencial Products of artificial hands, by scientific promotion have ben developed in the recent half century. Among those products the EMG controlling artificial upper limb brings the hope to the amputees. The later are now used widely form the earlest one in 1948.In 1978, Shanghai Jiao Tong University began to study and develop the EMG controlling artificial band mounted to amputes over thousand disabled during a couple of recent decades.The risidual muscles of an amputee are the signal source of the artificial hand controlled by EMG. The evoked EMG which can transmit the brain moving information is one of the bioelectricities from human body. The EMG signal, accumulated at skin surface with surface electrodes, passing through filtering and amplifying circuits controls the movement-this is the main principle of EMG controlling artificial hand.But, owing to the weakness of EMG (μv) and a group of muscles information plus the strong turbulence of electric field (v), the integrated EMG can’t completely reflect the brain moving act and will influence the accuracy of EMG-hand, especially those of the multi-multi-degree of freedom.In 1978, only 57% of the controlling aaccuracy of artificial hand with 3-degree of freedom could be reached by the Herbert’s research. In 80’s, the controlling accuracy raised up to 72% by Denning’s new method. Up to now, the accuracy is still not ideal, eventhrogh the Hi-tech of using pattern-recognitionand artincial neuro-net work. The electronic artificial hand will be considered successful and practical only with the moving accuracy more than 95%.Some research by using implant electrode for detecting the neuro-information or EEG controllingmethod met also dimculties for raising the accuracy of artificial hand.For breaking througll the threshold of accuracy limit, the EMG method as mentioned above must bechanged entirely, A newest creative research work on the electronic artificial hand controlled by a "regenerated finger" made by transplanting a toe to the stump is developing in Shanghai Jiao TongUniversity, which is without precedent in the world.The first experimental amputee using "regenerated finger’ to control an electronic artificial forearm with 3-degree of freedom reaches 100% accuracy of movements (i.e. no error within 100 tests). It has been proved that the use of a "regenerated finger" as a controlling signal command makes it possible to use the electronic artificeal hand with multi-degree of freedom without error Thecombining medical science with engineering in the area of designing an electronic artifical upper limb.Acknowledgement: The authors extend their hearty thanks to the famous academician Dr.Chen Zhongwei (Zhong-Sen Hospital) for their creative effort and successful micro-surgical operation for transplanting toe to stump of an amputee, also to the China Science Foundation for supporting. us the fund to develop this research.
文摘目的探讨基于镜像理论指导下的运动处方对断指再植术后患者再植断指恢复的影响。方法选取郑州市骨科医院2021年7月至2023年7月收治的89例断指再植术术后患者,使用信封随机抽取住院号方式分为两组。对照组44例患者给予常规康复训练运动处方,研究组45例患者给予基于镜像理论指导下的运动处方,两组患者均干预12周。比较两组患者干预前后手指活动度[手指关节总主动活动度(total angle of motion,TAM)]、手功能[Michigan手功能评估量表(Michigan hand outcomes questionnaire,MHQ)]、断指再植功能(中华医学会手外科学会断指再植功能评定试用标准)、断指感觉功能[静态两点辨别觉(static two-point discrimination,S2PD)]及生活质量[Barthel评分(Barthel index,BI)]。结果两组患者干预前MHQ、TAM、S2PD评分及BI评分差异无统计学意义(P>0.05),干预后两组患者均有不同程度改善。研究组患者工作能力评分(72.41±5.26)分、整体手功能评分(79.63±3.81)分、日常活动评分(81.19±4.72)分、对手功能的满意度评分(73.69±5.38)分、外观评分(63.48±6.32)分,均高于对照组患者工作能力评分(61.28±6.38)分、整体手功能评分(74.35±4.68)分、日常活动评分(76.47±5.69)分、对手功能的满意度评分(67.35±5.64)分、外观评分(56.37±6.57)分,研究组疼痛评分(48.34±7.88)分低于对照组(54.48±7.61)分(P<0.05)。研究组患者干预后TAM评分(151.64±10.96)分、BI评分(77.58±5.48)分,高于对照组患者TAM评分(139.19±10.37)分、BI评分(73.49±5.36)分;研究组S2PD(9.56±2.14)mm低于对照组(12.69±2.43)mm(P<0.05)。两组患者干预前断指功能评分差异无统计学意义(P>0.05),干预后两组患者均有提升,研究组患者断指功能评分(82.68±6.51)分、干预后断指再植功能优秀率24.44%,高于对照组患者断指功能评分(75.39±6.34)分、干预后断指再植功能优秀率6.82%(P<0.05)。结论基于镜像理论指导下的运动处方可有效提升断指再植术后患者手指关节活动度及感觉功能,促进再植断指功能恢复,改善患者生活质量。
