Table 1.
Demographics of participants with limb loss.
Fig 1.
A: The SoftHand Pro shown with wrist interface. B: The SHP grasping a large square tube taking advantage of flexible joint design. Bottom two rows: Demonstrating SHP twisting (C), bending (D), and disarticulating (E, F) capabilities.
Fig 2.
Participants wearing the SoftHand Pro.
Top: The SHP attached to a myoelectric socket used by a participant with limb loss. Bottom: The SHP attached to a forearm adapter used by limb-intact participants.
Fig 3.
Clinical evaluation of prosthesis.
Examples of participants completing the clinical measures. From left to right, Box and Blocks, the Jebsen Taylor Test of Hand Function (stacking checkers, moving small, common objects), and the AM-ULA (hammering a nail, shoe tying).
Fig 4.
An example progression through training starting from simple, repeated grasp tasks (top row, left two) to real-world tasks exploring the work space (top row, right two) to coordinated bimanual tasks, including hobby and leisure activities (middle row). The bottom row shows a participant practicing using environmental constraints to pick up a coin (US penny) from a table. The movement (left to right) starts with pre-grasping, proceeds to blocking the thumb against the table edge, closing the fingers to meet the table and coin, sliding the coin to the edge while bringing the thumb up to meet it, and ends with grasp completion.
Table 2.
Outcome measure overview.
Fig 5.
Comparison of SHP (post-training) to participants’ own prostheses in the COPM (top left) and all three time points for Jebsen “moving small, common objects” (top right), B&B (bottom left) and AM-ULA (bottom right). B&B, Jebsen “lifting large, light objects,” and AM-ULA results of limb-intact participants (LI) shown in the bottom row. Participants with limb loss are denoted as “LL” and own prosthesis results are denoted “OP.” Matched LL and LI participants are denoted using the same color (B&B) or number (AM-ULA and Jebsen).
Fig 6.
Top row: B&B and AM-ULA (left two and right two graphs, respectively) comparison of participants with and without additional myoelectric training (MT), in terms of SHP Pre-testing scores and gains (SHP Post-testing scores minus pre-testing). Middle and bottom rows: B&B and AM-ULA (left and right, respectively) gains plotted against time since amputation (middle row) and participant age (bottom). Linear regression line and confidence limits (shaded region) are also shown in bottom row.