title: Prosthetic Jamming Terminal Device: A Case Study of Untethered Soft Robotics.
abstract: This article illuminates the major and often overlooked challenge of untethering soft robotic systems through the context of recent work, in which soft robotic gripper technology enabled by jamming of granular media was applied to a prosthetic jamming terminal device (PJTD). The PJTD's technical and market feasibility was evaluated in a pilot study with two upper-limb amputees. A PJTD prototype was tested against a commercial device (Motion Control electric terminal service with a one degree-of-freedom pinching mechanism) using two existing hand function tests: the first quantified the device's speed in picking and placing small blocks and the second evaluated a person's ability to perform activities of daily living (ADLs). The PJTD prototype performed slightly slower than its commercial counterpart in the first test. While both participants successfully completed all the ADLs with both devices in the second test, the commercial device scored marginally higher. Results suggested that PJTD can have potential benefits over existing terminal devices, such as providing the capability to firmly grasp tools due to the ability of PJTD to conform to arbitrary surfaces and reducing compensatory shoulder movements due to its axisymmetric design. Some downsides were that users reported fatigue while operating the PJTD, as most operations require pushing the PJTD against target objects to adequately conform to them. The greatest drawback for the PJTD is also a major roadblock preventing a number of soft robotic research projects from making an impact in real-world applications: pneumatic technology required for operating the PJTD is currently too large and heavy to enable compact untethered operation.
authors.affiliation: Empire Robotics, Inc. , Boston, Massachusetts.
authors.forename: Nadia
authors.initials: N
authors.lastname: Cheng
authors.affiliation: Empire Robotics, Inc. , Boston, Massachusetts.
authors.forename: John
authors.initials: J
authors.lastname: Amend
authors.affiliation: Liberating Technologies, Inc. , Holliston, Massachusetts.
authors.forename: Todd
authors.initials: T
authors.lastname: Farrell
authors.affiliation: Single-Handed Solutions , LLC, Springfield, Massachusetts.
authors.forename: Debra
authors.initials: D
authors.lastname: Latour
authors.affiliation: Liberating Technologies, Inc. , Holliston, Massachusetts.
authors.forename: Carlos
authors.initials: C
authors.lastname: Martinez
authors.affiliation: Liberating Technologies, Inc. , Holliston, Massachusetts.
authors.forename: Jen
authors.initials: J
authors.lastname: Johansson
authors.affiliation: Empire Robotics, Inc. , Boston, Massachusetts.
authors.forename: Anthony
authors.initials: A
authors.lastname: McNicoll
authors.affiliation: Liberating Technologies, Inc. , Holliston, Massachusetts.
authors.forename: Marek
authors.initials: M
authors.lastname: Wartenberg
authors.affiliation: Empire Robotics, Inc. , Boston, Massachusetts.
authors.forename: Samuel
authors.initials: S
authors.lastname: Naseef
authors.affiliation: Liberating Technologies, Inc. , Holliston, Massachusetts.
authors.forename: William
authors.initials: W
authors.lastname: Hanson
authors.affiliation: Empire Robotics, Inc. , Boston, Massachusetts.
authors.forename: William
authors.initials: W
authors.lastname: Culley
keywords: amputee; gripper; hand; myoelectric; prosthetic; soft; upper-limb