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We developed four first-of-their-kind prosthetic terminal devices that can perform tasks that are difficult to impossible for conventional humanoid prostheses, and tested them with groups of participants without upper limb difference and individual participants with upper limb difference.
Modular Terminal Devices
Modular Terminal Devices
We present four modular terminal devices:
Our Base Platform and Control Device
Our Base Platform and Control Device
All of our terminal devices are designed to fit onto the OLYMPIC hand. The OLYMPIC hand is a modular prosthetic hand, where fingers can be easily removed for repair or, in our study, replaced with non-humanoid terminal devices.
The OLYMPIC hand was used as the control device for this study, as it is a representative humanoid prosthetic hand.
Testing and Evaluation
Testing and Evaluation
Task Performance
Task Performance
We tested device performance on targeted tasks: tightening screws, flicking disks, stacking checkers, and cutting circles.
Compensatory Motion
Compensatory Motion
We measured how each user's body had to compensate for any lack of functionality at three points: the chest, upper arm, and lower arm.
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