Soft robotics is a rapidly evolving field offering novel solutions in the development of wearable technologies. Soft pneumatic artificial muscles in particular, have seen widespread use in the development of human scale rehabilitative and assistive wearables. However, these soft actuators have not yet been adapted to address the complex dynamic regime of active (essential tremor) and resting (Parkinson’s disease) hand tremor, the most common movement disorder affecting humans. Current solutions to address hand tremor involve expensive medication and surgical interventions, as well as wearable assistive devices that fall short of providing an effective compact design for the suppression of hand tremor. This study focuses on the design of a novel lightweight, compact, bending actuator that will be capable of actively suppressing hand tremor when adapted into an assistive wearable device. The proposed fiber-reinforced bending pneumatic artificial muscle (BPAM), including its design specifications, fabrication process, theoretical modeling, and experimental characterization, are detailed. The developed actuator was capable of producing sinusoidal trajectories with peak-to-peak amplitudes of 40° and a bandwidth of 8 Hz, the dynamic regime of pathological hand tremor. The ability of the fiber-reinforced BPAM to act within the dynamic regime of hand tremor demonstrates its potential to be further developed into a system capable of the active suppression of hand tremor.

We describe the development of the In-Loop Electromagnetic Tracker (ILEMT), designed to meet the demanding latency and resolution requirements for active stabilization of hand motion during precision manipulations such as microsurgery. The prototype surpasses the fastest commercial EM trackers by > 4× in root bandwidth/resolution and 2× in latency. The use of two widely spaced carrier frequencies (e.g., 300 Hz and 10 kHz) enables a particularly simple way of reducing the eddy-current interference caused by nonferrous metals present in the workspace. Previously, metal compatibility has only been achieved at a large cost to measurement speed.

Background The scaphotrapeziotrapezoidal (STT) joint transfers forces to the proximal carpal row from the thumb and fingers. Clinically, STT joint osteoarthritis is frequently observed on plain radiographs though its role in the mechanics of the wrist joint remains unclear. Questions/Purposes Our purpose was to use a model of normal wrist types, to predict STT motion upon load. Patients and Methods Five normal computed tomography scans of a wrist type 1 and five wrist type 2 were used to model the wrist. A 200-N force was split and applied to the trapezoid and capitate to replicate forces during a knuckle pushup. The bony movement was predicted by the model as bony movement using finite element analysis. Results We found differences in force transfer through the STT joint between the two wrist types when loading the index and middle fingers. Type 1 wrists moved quantitatively more anterior-posterior, type 2 wrists moved more medially-laterally and more proximally-distally. The trapezium in type 1 wrists moved more in the coronal plane than in type 2 wrists. The trapezoid moved more from distal to proximal in a type 2 wrist, p = 0.03. Conclusion/Clinical Relevance This study found differences in motion upon loading through the STT joint between type 1 and 2 wrists. Type 2 wrists moved more radially toward the proximal scaphoid and scapholunate ligament. This study may provide a mechanical basis for degenerative configurations. By linking observed patterns of degeneration to their mechanical causes we can aid in prevention of arthritis.

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Objectives:To determine the effect of linking the intramedullary nail and the laterally applied locking plate to treat comminuted distal femur fractures and allow for immediate weight bearing.Methods:Comminuted extra-articular distal femur fractures were created in 16 synthetic osteoporotic femurs and split into 2 groups: linked versus unlinked. In the linked construct, in addition to standard plate fixation and proximal locking of the nail, 2 nonthreaded locking bolts (prototypes) were placed through both the plate and the nail. In the unlinked construct, the same number of screws affixed the plate to the bone but were directed around the nail, and separate distal interlocking screws were placed for nail fixation. Each specimen underwent sequential axial and torsional loading, and axial and torsional stiffness were calculated and compared.Results:On average, the unlinked constructs demonstrated a greater axial stiffness at all levels of axial loading, and linked constructs demonstrated greater average rotational stiffness. However, there were no statistically significant differences (P > 0.189) between the linked and unlinked groups at any axial or torsional load.Conclusion:In distal femur fractures with metaphyseal comminution, there were no significant differences in axial or torsional stiffness when linking the plate to the nail. Linking the construct seems to provide no significant mechanical advantage compared with the unlinked environment, but it may be a useful strategy to reduce nail “traffic” in the distal segment with no significant disadvantage.