Replacing the human hand with artificial devices of equal capability and effectiveness is a long-standing challenge. Even the most advanced hand prostheses, which have several active degrees of freedom controlled by the electrical signals of the stump’s residual muscles, do not achieve the complexity, dexterity, and adaptability of the human hand. Thus, prosthesis abandonment rate remains high due to poor embodiment. Here, we report a prosthetic hand called Hannes that incorporates key biomimetic properties that make this prosthesis uniquely similar to a human hand. By means of an holistic design approach and through extensive codevelopment work involving researchers, patients, orthopaedists, and industrial designers, our proposed device simultaneously achieves accurate anthropomorphism, biomimetic performance, and human-like grasping behavior that outperform what is required in the execution of activities of daily living (ADLs). To evaluate the effectiveness and usability of Hannes, pilot trials on amputees were performed. Tests and questionnaires were used before and after a period of about 2 weeks, in which amputees could autonomously use Hannes domestically to perform ADLs. Last, experiments were conducted to validate Hannes’s high performance and the human likeness of its grasping behavior. Although Hannes’s speed is still lower than that achieved by the human hand, our experiments showed improved performance compared with existing research or commercial devices.

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For decades, powered exoskeletons have been considered for possible employment in rehabilitation and personal use. Yet, these devices are still far from addressing the needs of users. Here, we introduce TWIN, a novel modular lower limb exoskeleton for personal use of spinal-cord injury (SCI) subjects. This system was designed according to a set of user requirements (lightweight and autonomous portability, quick and autonomous donning and setup, stability when standing/walking, cost effectiveness, long battery life, comfort, safety) which emerged during participatory investigations that organically involved patients, engineers, designers, physiatrists, and physical therapists from two major rehabilitation centers in Italy. As a result of this user-centered process, TWIN's design is based on a variety of small mechatronic modules which are meant to be easily assembled and donned on or off by the user in full autonomy. This paper presents the development of TWIN, an exoskeleton for personal use of SCI users, and the application of user-centered design methods that are typically adopted in medical device industry, for its development. We can state that this approach revealed to be extremely effective and insightful to direct and continuously adapt design goals and activities toward the addressment of user needs, which led to the development of an exoskeleton with modular mechatronics and novel lateral quick release systems. Additionally, this work includes the preliminary assessment of this exoskeleton, which involved healthy volunteers and a complete SCI patient. Tests validated the mechatronics of TWIN and emphasized its high potential in terms of system usability for its intended use. These tests followed procedures defined in existing standards in usability engineering and were part of the formative evaluation of TWIN as a premise to the summative evaluation of its usability as medical device.

The experimental realization of twisted bilayer graphene strongly pushed the inspection of bilayer systems. In this context, it was recently shown that a two layer Haldane model with a thirty degree rotation angle between the layers represents a higher order topological insulator, with zero-dimensional states isolated in energy and localized at the physical vertices of the nanostructure. We show, within a numerical tight binding approach, that the energy of the zero dimensional states strongly depends on the geometrical structure of the vertices. In the most extreme cases, once a specific band gap is considered, these bound states can even disappear just by changing the vertex structure.

We study the role of the edges in determining the features of the topological phase in a quasicrystalline higher order topological insulator. We consider a specific model consisting of two stacked Haldane models with opposite Chern number and a 30 • twist, whose structure is cristallographically equivalent to that of the graphene quasicrystal. We find that the gap-opening in the low energy spectrum of the higher order topological insulator occurs at different energies when different kinds of edges are considered. Crucially, bearded bonds appear to be necessary for the gap to appear close to the charge neutrality point. In the more realistic case of zigzag edges, the gap opens symmetrically in the electron and hole sectors, away from zero energy. We explain our findings by inspecting the edge-bands of the decoupled bilayer, in the approximation of quasi-periodicity.