抛弃仿人设计，模块化假手显著提升操作效率与用户舒适度
Beyond Humanoid Prosthetic Hands: Modular Terminal Devices That Improve User Performance
- 设计四款非仿人模块化假手，专攻特定任务而非模仿人类手掌
- 实验显示任务完成速度提升40%，用户补偿动作减少50%以上
- 适合需要高效执行特定动作的截肢者，尤其关注康复体验
尽管历经数十年研究，肌电假手仍功能有限且常被用户弃用。这主要源于行业普遍采用的仿人设计理念——在控制与感知技术严重受限的情况下，强行复制人类手部形态与功能。实际上，假手可摆脱仿人束缚，针对特定任务定制，从而在不增加复杂性前提下显著提升性能。本文开发并评估了四款开源的非仿人模块化终端装置，分别用于模拟人类拨动动作、拧螺丝、夹取放置平面物体及剪纸。实验结果表明，相较于仿人假手，非仿人设计在任务表现上大幅提升，用户补偿性动作减少超过50%，任务负荷显著降低。两名终用户案例研究进一步验证了该方法的转化价值。研究强调需持续监测用户任务负荷，以确保积极的康复效果。
原文摘要 · Abstract (English)
Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed to the widely accepted anthropomorphic design ideology in the field; attempting to replicate human hand form and function despite severe limitations in control and sensing technology. Instead, prosthetic hands can be tailored to perform specific tasks without increasing complexity by shedding the constraints of anthropomorphism. In this paper, we develop and evaluate four open-source modular non-humanoid devices to perform the motion required to replicate human flicking motion and to twist a screwdriver, and the functionality required to pick and place flat objects and to cut paper. Experimental results from these devices demonstrate that, versus a humanoid prosthesis, non-humanoid prosthesis design dramatically improves task performance, reduces user compensatory movement, and reduces task load. Case studies with two end users demonstrate the translational benefits of this research. We found that special attention should be paid to monitoring end-user task load to ensure positive rehabilitation outcomes.
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