10112 Prosthetic Arm User Manual DEKA Arm User Guide.book Mobius Bionics LLC

Mobius Bionics LLC Prosthetic Arm

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LUKE Arm
User Guide
Part Number: LU-09012-001
Revision: 1.8
Date: December 05, 2016
Manufactured by:
Mobius Bionics
470 Commercial Street
Manchester, NH 03101
www.mobiusbionics.com
Copyright
Copyright © 2016, Mobius Bionics LLC. All rights reserved.
Mobius Bionics LLC proprietary rights are included herein. This document contains
Mobius Bionics confidential information and may not be copied, transferred, or
disclosed, except as authorized by Mobius Bionics.
Trademarks
Bluetooth® is a registered trademark of Bluetooth SIG.
Wi-Fi® is a registered trademark of Wi-Fi Alliance.
Contents
Contents
About This Guide
How to Use This Guide ................................................................................
Conventions ................................................................................................
Terminology................................................................................................
Acronyms ...................................................................................................
Contacting Technical Support .......................................................................
Chapter 1
LUKE Arm System
Indications for Use .......................................................................................
LUKE Arm System ......................................................................................
Arm Types ............................................................................................
Shoulder Configuration (SC) ..............................................................
Humeral Configuration (HC)..............................................................
Radial Configuration (RC)..................................................................
Batteries and Holster ..............................................................................
Internal Battery ................................................................................
External Battery ...............................................................................
External Battery Holster ....................................................................
Battery Chargers and Charging Dock.......................................................
Charging Pad ...................................................................................
AC Adapter .....................................................................................
Charging Dock.................................................................................
ACI (Arm Control Interface) Module.........................................................
Input and Output Control Devices............................................................
IMUs (Inertial Measurement Units)......................................................
EMG (Surface EMG Electrodes)..........................................................
Pressure Switches .............................................................................
Rocker Switches ...............................................................................
Pressure Transducers ........................................................................
Linear Transducers ...........................................................................
Tactor .............................................................................................
Chapter 2
11
12
14
14
15
17
18
19
19
19
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21
21
22
22
23
24
24
25
26
27
27
27
28
28
29
29
30
Safety
Safety Guidelines - Arm ................................................................................ 31
Electromagnetic Interference (EMI) Safety....................................................... 34
Safety Guidelines - Battery ............................................................................ 35
Rev 1.8 -- Use or Disclosure of Data Contained on this Page is Subject to the Restrictions on the Inside Title Page of this Document
12/5/163
Contents
Chapter 3
Arm Types and User Controls
System Battery Types...................................................................................
User Controls and Wrist Display....................................................................
Power ON/OFF Button Location.............................................................
Turning the Arm ON and OFF ................................................................
Wrist Display .........................................................................................
Low Battery Icon and Low Battery Alert .........................................
System Fault Icon ..........................................................................
Arm Mode LED and Grip Select LEDs ............................................
Display Button .................................................................................
Displaying the Battery Charge Level...................................................
Changing the Display Brightness........................................................
Swapping IMUs................................................................................
IMU LED Status .....................................................................................
Hand Open Button.................................................................................
Orienting The Arm While Pressing The Hand Open Button .................
Chapter 4
Setting Up the Arm
Installing IMUs .............................................................................................
Installing the IMU to the Shoe Clip ..........................................................
Installing the Shoe Clip to Your Shoe.......................................................
Location and Orientation of the IMUs ......................................................
Waking a Sleeping IMU ................................................................................
Donning (Putting On) the Arm ......................................................................
Chapter 5
49
50
52
53
53
54
Using the Arm
Key Concepts ..............................................................................................
Switching vs. Motion ..............................................................................
Operating Modes ...................................................................................
IMU - Walk Detect..................................................................................
IMU - Angle Limit Detect ........................................................................
Mode Change Interlock...........................................................................
Zeroing the IMUs ...................................................................................
Safe Operation of the System .......................................................................
What To Do If the Arm Is Not In Proper Working Order............................
Arm Is Not in Proper Working Order .................................................
Unsure When Using the Arm.............................................................
Grasp Release ..................................................................................
Doffing the Arm ...............................................................................
Safe Motions .........................................................................................
Taking It Slow........................................................................................
Practicing Safe Operation of the System ..................................................
Lifting Heavy Objects .............................................................................
Initializing the Arm.......................................................................................
Re-Initializing the Arm ..................................................................................
Improper Shutdowns....................................................................................
38
38
39
40
40
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41
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43
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44
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45
47
48
Use or Disclosure of Data Contained on this Page is Subject to the Restrictions on the Inside Title Page of this Document
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-- Rev 1.8
Contents
Operating Modes and Motions ......................................................................
Standby Mode (No Motion) .....................................................................
Hand Mode Motions...............................................................................
Opening or Closing the Hand............................................................
Compound Wrist Motions .................................................................
Rotating the Wrist ............................................................................
Selecting a Grip .....................................................................................
Power Grip (Grip Select LED 1).........................................................
Tool Grip (Grip Select LED 2) ...........................................................
Fine Pinch Closed Grip (Grip Select LED 3) ........................................
Fine Pinch Open Grip (Grip Select LED 4)..........................................
Lateral Pinch Grip (Grip Select LED 5) ...............................................
Chuck Grip (Grip Select LED 6).........................................................
Grip Detents ....................................................................................
Arm Mode Motions ................................................................................
SC Arm Motions ..............................................................................
Elbow Flexion - Extension (HC Arm) ..................................................
Humeral Internal - External Rotation (HC Arm) ...................................
Doffing (Removing) the Arm .........................................................................
Chapter 6
Charging the Batteries
Battery Charging Safety ...............................................................................
Testing the Internal Battery Charge Level.......................................................
Charging the Internal Battery ........................................................................
Testing the External Battery Charge Level......................................................
Charging the External Battery .......................................................................
Removing the External Battery from the Holster .................................
Installing the External Battery in the Holster........................................
Testing the IMU Battery Charge Level ...........................................................
Charging the IMU Battery.............................................................................
Chapter 7
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76
79
80
80
82
82
83
85
86
88
88
89
90
Maintaining and Troubleshooting the Arm
Maintaining the Arm .................................................................................... 93
Removing and Replacing the Fingernails, Finger Covers and Hand Cover ... 94
Removing and Replacing Fingernails .................................................. 95
Removing and Replacing Finger Covers ............................................. 96
Removing and Replacing Hand Cover ................................................ 97
Cleaning the Arm................................................................................... 98
Troubleshooting the Arm............................................................................ 100
LUKE Arm System Alerts ..................................................................... 100
Troubleshooting ................................................................................... 101
Rev 1.8 -- Use or Disclosure of Data Contained on this Page is Subject to the Restrictions on the Inside Title Page of this Document
12/5/165
Contents
Appendix A
Technical Specifications
Arm Specifications .....................................................................................
Battery Specifications .................................................................................
AC Adapter Specifications ..........................................................................
Charging Pad Specifications........................................................................
Arm Radio Specifications............................................................................
Appendix B
Guidance and Manufacturer’s Declaration
Electromagnetic Environment......................................................................
Electromagnetic Emissions ....................................................................
Electromagnetic Immunity.....................................................................
Recommended Separation Distances ...........................................................
Essential Performance ................................................................................
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-- Rev 1.8
Contents
List of Figures
Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
Figure 10.
Figure 11.
Figure 12.
Figure 13.
Figure 14.
Figure 15.
Figure 16.
Figure 17.
Figure 18.
Figure 19.
Figure 20.
Figure 21.
Figure 22.
Figure 23.
Figure 24.
Figure 25.
Figure 26.
Figure 27.
Figure 28.
Figure 29.
Figure 30.
Figure 31.
Figure 32.
Figure 33.
Figure 34.
Figure 35.
Figure 36.
Figure 37.
Figure 38.
Figure 39.
Figure 40.
Figure 41.
Figure 42.
Figure 43.
Figure 44.
Figure 45.
Arm Types ............................................................................ 20
Internal Battery ...................................................................... 21
External Battery ..................................................................... 22
External Battery Holster.......................................................... 23
Charging Pad for IMU Battery................................................. 24
AC Adapter........................................................................... 24
Charging Dock ...................................................................... 25
ACI Module ........................................................................... 26
Example Inertial Measurement Unit ......................................... 27
Example EMG ....................................................................... 27
Example Pressure Switch ........................................................ 28
Example Rocker Switch .......................................................... 28
Example Pressure Transducer ................................................. 29
Example Linear Transducer .................................................... 29
Example Tactor Output Device................................................ 30
Pinch Point Areas .................................................................. 34
Power Button and LED - SC, HC, and RC Arms With External
Battery Only .......................................................................... 39
Power Button and LED - SC and HC Arms with Internal Battery 40
Wrist Display ......................................................................... 41
Hand Open Button ................................................................ 47
Attaching the IMU to the Shoe Clip ......................................... 51
Attaching the Shoe Clip to the Shoe........................................ 52
Hand Open Button ................................................................ 61
Hand Open and Hand Closed ................................................. 67
Compound Wrist Motions ....................................................... 68
Rotating the Wrist .................................................................. 69
Power Grip............................................................................ 70
Tool Grip .............................................................................. 71
Fine Pinch Closed Grip........................................................... 72
Fine Pinch Open Grip ............................................................ 72
Lateral Pinch Grips ................................................................ 74
Chuck Grip............................................................................ 75
Moving the Hand Up or Down ................................................ 77
Moving the Hand Left or Right................................................ 77
Moving the Hand Forward or Backward ................................... 78
Voluntary Elbow Positioning (VEP) .......................................... 79
Elbow Flexion - Extension ....................................................... 79
Humeral Internal - External Rotation........................................ 80
Internal Battery Charging Port and Status Icon ......................... 84
Testing the External Battery Charge Level................................ 85
External Battery Charging Dock and Status LEDs ..................... 87
Removing and Replacing the External Battery .......................... 89
Charging the IMU Battery....................................................... 90
Lateral Pinch Grip - Fully Open ............................................... 94
Removing and Replacing the Fingernails .................................. 96
Rev 1.8 -- Use or Disclosure of Data Contained on this Page is Subject to the Restrictions on the Inside Title Page of this Document
12/5/167
Contents
Figure
Figure
Figure
Figure
Figure
46.
47.
48.
49.
50.
Lace - Securing Hand Cover ................................................... 97
Removing and Replacing the Finger and Hand Covers .............. 98
Dimensions of Shoulder Configuration (In Centimeters) ........... 110
Dimensions of Humeral Configuration (In Centimeters)............ 111
Dimensions of Radial Configuration (In Centimeters) ............... 111
Use or Disclosure of Data Contained on this Page is Subject to the Restrictions on the Inside Title Page of this Document
-- Rev 1.8
Contents
List of Tables
Table 1.
Table 2.
Table 3.
Table 4.
Table 5.
Table 6.
Table 7.
Table 8.
Table 9.
Table 10.
Table 11.
Table 12.
Table 13.
Table 14.
Table 15.
Table 16.
Table 17.
Table 18.
Table 19.
Table 20.
Table 21.
Table 22.
Table 23.
Table 24.
Table 25.
Table 26.
Table 27.
Table 28.
Table 29.
Table 30.
Table 31.
Table 32.
Table 33.
Table 34.
Table 35.
Table 36.
Table 37.
Table 38.
Arm System Icons ................................................................. 12
Text Conventions.................................................................. 13
Terminology ......................................................................... 14
Acronyms............................................................................. 14
Arm and Battery Types ......................................................... 38
Arm Mode and Grip Select LEDs............................................ 42
Wrist Display Battery Charge Levels ....................................... 43
IMU LED Status.................................................................... 45
Control Types - Switching vs. Motion ..................................... 56
Arm and Operating Modes..................................................... 57
Hand Mode — Motions ......................................................... 66
Grip Select LEDs .................................................................. 69
Arm Mode — Motions........................................................... 76
Internal Battery Charging Port and Status Icon ........................ 84
External Battery Charge Level ................................................ 86
External Battery Charging Dock Status LEDs........................... 87
IMU Battery Charging LED Status .......................................... 91
Troubleshooting - Try This First............................................ 101
Troubleshooting - Wrist Display and System Faults................. 102
Troubleshooting - Arm Function ........................................... 104
Troubleshooting - Power and Battery Charging...................... 105
Arm System Specifications................................................... 107
Operating Environmental Range........................................... 107
Transport and Storage Environmental Range......................... 108
Service Life Specifications.................................................... 108
Mass of Arm Configurations................................................. 109
Dimensions of Arm Configurations ....................................... 109
Battery Charge and Operation Times.................................... 112
Power Specifications - Internal Battery .................................. 112
Power Specifications - External Battery ................................. 112
Power Specifications - IMU Battery....................................... 113
AC Adapter Specifications ................................................... 113
Charging Pad Specifications................................................. 114
Arm Radio Specifications..................................................... 115
Guidance and Manufacturer’s Declaration Electromagnetic Emissions ................................................... 117
Guidance and Manufacturer’s Declaration Electromagnetic Immunity.................................................... 118
Recommended Separation Distances (Part I) .......................... 121
Recommended Separation Distances (Part II) ......................... 122
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Contents
10
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document
-- Rev. 1.8
About This Guide
The intent of this guide is to help guide you in the use of the LUKE arm system.
Read this guide before using the arm.
This guide is shipped with the LUKE arm system.
How to Use This Guide
To learn about the arm and how to use the arm read the chapters in the table
below.
Read
To Learn About...
Chapter 1
Overview — Provides a summary of the arm and arm parts.
Chapter 2
Safety — Provides WARNINGS and CAUTIONS on using the
arm and batteries.
Chapter 3
Arm Types and User Controls — Provides information about
arm types, batteries, and user controls and displays.
Chapter 4
Setting Up the Arm— Tells you how to install the IMUs and don
the arm.
Chapter 5
Using the Arm— Provides information on key concepts as well
as how to safely initialize the arm, change operating modes, and
command hand and arm motions.
Chapter 6
Charging the Batteries — Provides steps on how to charge all
batteries.
Chapter 7
Maintenance and Troubleshooting — Tells you how to
maintain the arm as well as troubleshoot problems.
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r11
About This Guide
Conventions
Table 1 describes the arm system icons and Table 2 describes text conventions used
throughout this guide.
Table 1.
Arm System Icons
Icon
12
Meaning
Description
Alert
Alerts you to potential injury
hazards. Obey all safety messages
that follow this symbol to avoid
possible injury.
Information Note
Notice is used to address practices
not related to personal injury.
CAUTION
Cautions indicate a hazardous
situation which, if not avoided, could
result in minor or moderate injury.
WARNING
Warnings indicate a hazardous
situation which, if not avoided, could
result in death or serious injury.
Read This Guide
Used to instruct you to refer to this
guide prior to using the LUKE arm
system.
Electrically Isolated
Equipment
Indicates Type BF equipment which
is electrically isolated and can safely
contact a person’s skin without the
risk of electric shock.
Radio Transmitter
Indicates that equipment contains a
radio transmitter.
Disposal of
Equipment
Indicates that equipment should not
be disposed of in the trash.
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Conventions
Icon
Table 2.
Meaning
Description
Recycle Equipment
Indicates that equipment should be
recycled.
Use Indoors
Identifies electrical equipment
designed for indoor use and should
be kept dry.
Meets Class II
Safety
Requirements
Identifies equipment that meets the
safety requirements specified for
Class II equipment according to IEC
61140.
MR Unsafe
Indicates that equipment is not
compatible with magnetic resonance
(MRI) environment.
Text Conventions
Convention
Appearance in Text
Example
Key concepts and
emphasized text
Appear in bold type.
Inertial Measurement
Unit
Book titles, directories,
pathnames, and filenames
Appear in italic typeface.
LUKE Arm User Guide
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About This Guide
Terminology
Table 3 describes the terminology used in this guide to describe the arm, socket,
and accessories.
Table 3.
Terminology
Term
Description
Arm
Refers to the arm hardware in isolation.
Prosthesis
Refers to the combination of the socket and the arm.
Arm System
Refers to the socket, arm, and all related accessories.
Acronyms
Table 4 lists the acronyms used in this guide.
Table 4.
Acronyms
Acronym
14
Description
ACI
Arm Control Interface — Controls the interface between you and
the Master Arm Controller.
EMG
Electromyograph — A sensor that is placed on the skin and senses
the activation signal of a muscle.
EMI
Electromagnetic Interference — Interference to the arm’s
electronics caused by external electrical sources.
HC
Humeral Configuration — A type of arm.
IMU
Inertial Measurement Unit — A control input that is placed on top
of a foot or lower appendage.
LED
Light Emitting Diode — A light that displays a status.
MAC
Master Arm Controller — The main processing unit of the arm.
RC
Radial Configuration — A type of arm.
SC
Shoulder Configuration — A type of arm.
SOC
State of Charge — The battery charge level.
USB
Universal Serial Bus — A standard way for a computer to talk to
other devices.
VEP
Voluntary Elbow Positioning — A type of arm motion of the
LUKE arm.
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Contacting Technical Support
Contacting Technical Support
To contact technical support use the following address, web site URL or telephone:
Mobius Bionics
470 Commercial Street
Manchester, NH 03101
www.mobiusbionics.com
603-239-3834
855-MOBIUS1 (855-662-4871)
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About This Guide
16
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1
LUKE Arm System
This chapter provides an overview of the LUKE arm system which includes the
socket, arm, batteries, AC Adapter, charging pad, and arm inputs and outputs.
Prior to using the LUKE arm system you must have met with your prosthetist.
During the meeting(s) the prosthetist will have performed a number of steps such as:
•
design and build a custom socket to attach the arm
•
pick the arm configuration and arm parts to best fit your needs
•
set up and configure the arm
•
allow you to test the arm system in a controlled setting
Once the prosthetist feels that you have met all demands in order to use the arm
they will allow you to use the arm. You should clearly understand how the
prosthetist has set up your arm prior to using the arm.
Indications for Use
The LUKE arm system consists of a prosthetic arm and accessories which are used
by a certified prosthetist to create a full upper extremity prosthesis indicated for
individuals, age 18 years and older, who have partial or full upper limb amputations
or congenital defects. The device is used to assist in activities of daily living (ADLs).
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Chapter 1: LUKE Arm System
LUKE Arm System
The LUKE arm system is comprised of a specific arm type and several accessories
depending on the arm type. The arm system is described below.
RISK OF DEATH OR SERIOUS HARM
Do not take apart or change the arm or connected parts. This could lead to
harm.
Based on your arm’s type and setup you may not have some of the following
parts.
Note the following concerning the LUKE arm system:
•
The arm is internally powered (when under battery power).
•
The arm is designated Class II (when plugged into the AC Adapter).
•
The arm and all body worn accessories are Type BF applied parts.
The IMUs have an IP57 rating. The other body worn components of the arm
system, when installed and covers are in place, have an IP52 rating. The IP
rating specifies the strength of the enclosure against solids (such as dust) and
liquids. An IP52 rating provides resistance to light rain and fine dust. An IP57
rating provides resistance to fine dust and submersion to depths of 1 m.
18
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LUKE Arm System
Arm Types
Your LUKE arm is one of the three types listed below and shown in Figure 1. Your
prosthetist will have chosen the arm type that best fits your needs and set up the
arm for the right or left side as well as proper length.
Shoulder Configuration (SC)
This arm type is for those amputees with little or no residual limb or for those
amputees with limited movement or other restricting factors in their residual limb.
Humeral Configuration (HC)
This arm type is for those amputees with a residual limb below the shoulder but not
including the elbow.
Radial Configuration (RC)
This arm type is the shortest of the three and is for amputees with a residual limb
below the elbow.
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Chapter 1: LUKE Arm System
Figure 1. Arm Types
Shoulder Configuration (SC)
Humeral Configuration (HC)
Radial Configuration (RC)
20
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LUKE Arm System
Batteries and Holster
There are two battery types used to power the arm. Which battery type is used
depends on your arm type and how your prosthetist configured the power to the
arm. The two batteries are:
Internal Battery
This battery may be used to power the SC and HC arms and is located within the
arm’s forearm. See Figure 2.
Depending on how your prosthetist configured your arm you may not have an
internal battery.
Figure 2. Internal Battery
Internal Battery
(Inside the Arm)
SC and HC Arms
Shoulder Configuration (SC)
Humeral Configuration (HC)
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Chapter 1: LUKE Arm System
External Battery
This battery, see Figure 3, is normally worn on a belt or in a pocket and is used in
one of two ways:
•
In SC and HC arms, with an internal battery, it may be used to supplement
power to the arm.
•
In RC arms and in SC and HC arms, without an internal battery, it is used
standalone to power the arm.
The external battery is used with an external battery holster to power the arm. See
External Battery Holster for more information.
Figure 3. External Battery
External Battery
(Outside the Arm)
SC, HC, and RC Arms
External Battery Holster
The external battery is mounted in a holster which in turn can be clipped to a belt or
worn in a pocket. See Figure 4. The belt clip can be attached to the holster so that
the external battery is in either the vertical or horizontal position. There are two
versions of the holster; one with an ON/OFF button and power LED and one
without. For more information see Power ON/OFF Button Location.
22
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LUKE Arm System
Figure 4. External Battery Holster
Battery Holster with ON/OFF button
Battery Holster without ON/OFF button
Battery Chargers and Charging Dock
There are three components used for charging the batteries: a charging pad, an AC
Adapter, and a charging dock. The AC Adapter is used with the charging dock to
charge the external battery. To charge an internal battery, the AC Adapter plugs
directly into the arm.
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Chapter 1: LUKE Arm System
Charging Pad
A wireless charging pad is provided in order to charge the IMU battery. Figure 5
shows the charging pad.
Figure 5. Charging Pad for IMU Battery
Charging Pad
AC Adapter
The AC Adapter is used with the external battery charging dock and to directly
charge the internal battery within the arm. The AC Adapter comes with a line cord
for use in your country. Figure 6 shows the AC Adapter.
Figure 6. AC Adapter
AC Adapter
24
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LUKE Arm System
Charging Dock
The charging dock is used to charge the external battery. The charging dock has
two slots allowing you to charge two batteries at once and is powered by the AC
Adapter. When charging the battery you should remove the battery from its holster
and place it in the charging dock. Figure 7 shows the charging dock.
Figure 7. Charging Dock
Charging Dock
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Chapter 1: LUKE Arm System
ACI (Arm Control Interface) Module
The ACI Module, see Figure 8, receives signals from user inputs (e.g., surface EMG
electrodes and pressure transducers) and sends them to the MAC which in turn
controls the arm. The ACI Module provides four user inputs and connects to the
arm.
The arm supports up to four IMU/ACI modules at a time in multiple
combinations, with a maximum of two IMUs. For example, your prosthetist
may configure the arm to support two IMU modules and two wired ACI
modules or four wired ACI modules and no IMUs.
Figure 8. ACI Module
ACI Module
26
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LUKE Arm System
Input and Output Control Devices
The arm uses several input devices and a single output device to control the arm.
The following sections describe these devices.
IMUs (Inertial Measurement Units)
IMUs are placed on top of your shoes and command motion or grip selection by
having you tilt your foot. See Figure 9. To install the IMUs see Installing IMUs.
Figure 9. Example Inertial Measurement Unit
Inertial
Measurement
Unit
EMG (Surface EMG Electrodes)
EMGs are placed on your skin or embedded into your socket to maintain contact
against your skin. EMGs are used to read electrical signals from underlying muscle
contractions. EMGs command motion by having you contract the selected muscle.
Figure 10 shows an example of a type of EMG.
Figure 10. Example EMG
Surface EMG
Electrodes
When donning the arm system, static electricity discharge to EMGs can
damage them. To minimize the chance of EMG damage, touch any metal on
the arm before touching the EMGs. If you think the EMG is not working
correctly, see Troubleshooting the Arm.
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User Controls and Wrist Display
IMU LED Status
The IMU LED shows the functions of the IMU. Pressing the display button for less
than one second causes the IMU battery to blink showing the charge level. Table 8
describes the functions of the IMU LEDs.
Table 8.
IMU LED Status
Function
Color
Status
Description
Normal
Operation
Blue
One blink every five (5)
seconds
IMUs are operating normally
and are communicating with
the arm.
Walk Detect
Blue
Solid
Indicates walk detect mode.
For more information see
IMU - Walk Detect and
Zeroing the IMUs.
Fault
Amber
Blinking
Indicates a sensor self-test
has failed. Try resetting the
IMU by removing it from the
charging pad, waiting five (5)
seconds, and then placing
the IMU on the charging
pad. If the condition
continues contact Technical
Support. See Contacting
Technical Support.
Solid
Indicates charging has been
paused. The system should
recover from this condition.
If after 30 minutes charging
does not continue, contact
Technical Support for service
on the charger or the IMU.
See Contacting Technical
Support.
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Chapter 3: Arm Types and User Controls
Table 8.
46
IMU LED Status
Function
Color
Status
Description
Checking
Battery
Charge
Level or
Shaking to
Wake
Blue
5 blinks every 5 seconds
(3 times)
Fully charged (80% to 100%)
4 blinks every 5 seconds
(3 times)
Charge level is dropping
(60% to 80%)
3 blinks every 5 seconds
(3 times)
Charge level is dropping
(40% to 60%)
2 blinks every 5 seconds
(3 times)
Charge level is dropping
(20% to 40%)
1 blink every 5 seconds
(3 times)
Low battery (0% to 20%).
See Charging the IMU
Battery.
Sleep Mode
Off
No blinks
IMU is in sleep mode. See
Waking a Sleeping IMU.
Discharged
Battery
Off
No blinks
IMU battery is discharged.
See Charging the IMU
Battery.
Awake and
Waiting
Off
No blinks
IMU is awake and waiting to
connect to the arm.
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4
Setting Up the Arm
This chapter provides information on how to set up the arm. Based on how your
prosthetist configured your arm, you may need to install some arm parts and then
don the arm to ensure proper fit prior to using the arm.
Topics in this chapter include:
•
Installing IMUs
•
Donning (Putting On) the Arm
Before installing the arm parts and donning the arm be sure to visually inspect
all the arm parts and the arm for any sign of damage. If there is any sign of
damage, contact Technical Support. See Contacting Technical Support.
Installing IMUs
If your arm’s control scheme calls for IMUs with shoe clips, you can install them at
this time. There are two steps to installing the IMU:
1. Attaching the IMU to the shoe clip.
2. Attaching the shoe clip to your shoe.
If you need help putting on and taking off the IMUs with shoe clips, have your
caregiver available at this time.
The IMUs have an IP57 rating. The IP rating specifies the strength of an
enclosure against solids (such as dust) and liquids. An IP57 rating provides
resistance to water at depths up to 1 m (39 inches) and resistance to fine dust.
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r49
Chapter 4: Setting Up the Arm
The IMUs will not provide data if dramatically tipped (close to vertical). Be sure
to position the IMU as close to level as possible when installing the IMU. If you
attach the IMU to your shoe at a severe angle to begin with, the IMU will not
provide the full range of motion after zeroing.
Installing the IMU to the Shoe Clip
To install the IMU to the shoe clip see Figure 21 and perform the following steps:
Be sure to install the IMU(s) onto the correct foot as configured by your
prosthetist. DO NOT SWAP THE IMU(s) DURING INSTALLATION.
1. Slide the tabbed end of the IMU into the open end of the shoe clip.
When installing the IMU onto the shoe clip, please ensure the following:
•
The Front Arrow label on the bottom of the IMU is facing towards your
toes.
•
Keep the IMU aligned with the direction of movement. This will prevent any
cross talk from occurring.
2. Press down on the IMU until the shoe clip retention tab snaps into the IMU slot.
Ensure the IMU is fastened securely to the shoe clip.
50
•
The shoe clip can be put on the shoe either before or after the IMU is
installed on the shoe clip.
•
You can attach the IMU to the shoe by alternate means (i.e., straps or
pockets) as long as it is securely attached.
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Installing IMUs
Figure 21. Attaching the IMU to the Shoe Clip
IMU Tab
Front
Label
Open End
of Shoe Clip
Part 1
Press Down On IMU
IMU Tab
Part 2
Front
Open End
of Shoe Clip
Part 3
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Chapter 4: Setting Up the Arm
Installing the Shoe Clip to Your Shoe
To install the shoe clip to your shoe see Figure 22 and perform the following steps:
•
Note that the shoe clip can be installed onto your shoe with the shoe off
your foot or on your foot.
•
Once you have installed the shoe clip, the shoe clip can remain on the
shoe.
1. Orient the shoe clip so that the open end of the clip is facing towards your toes.
2. Slide the shoe clip under the laces of the shoe (left or right).
When installing the shoe clip to the shoe, please ensure the following:
•
The shoe clip passes through at least two of the shoe’s laces to ensure the
clip is secure and stable.
•
The Front Arrow label on the bottom of the IMU is facing towards your
toes.
3. Tighten the laces to secure the IMU and shoe clip to the shoe.
4. If you have not already done so put on the shoe.
5. Once you have installed the IMUs you can don (put on) the arm. See Donning
(Putting On) the Arm.
Figure 22. Attaching the Shoe Clip to the Shoe
Open End of Shoe Clip
NOTE: IMU is shown attached
to shoe clip.
52
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Waking a Sleeping IMU
The IMUs do not contain an ON/OFF button. An IMU that is awake and set
up to communicate with an arm will do so once the arm is powered ON. See
Waking a Sleeping IMU and Initializing the Arm.
Location and Orientation of the IMUs
During the configuration process your prosthetist will have located and oriented the
IMUs to ensure proper operation of the arm. Be sure to locate and orient the IMUs
per your prosthetist’s instructions.
Waking a Sleeping IMU
When an IMU has not communicated with the arm for more than 30 minutes, the
IMU reverts to a sleep mode to conserve the battery. When in sleep mode the IMU
is not listening for arm communication.
As a result, if the IMU is in sleep mode when the arm is turned on, it will not
connect with the arm. This results in the Grip Select LEDs sweeping while the arm
is trying to find the IMUs. If no IMUs are found, the System Fault Icons on the wrist
display blink along with an “IMU Comm Lost” fault code. Shaking your foot with
the IMU attached wakes the IMU from sleep mode so that the IMU is ready to
communicate with the arm once the arm system is powered up.
An IMU that has been shaken awake is waiting to communicate with the arm. IMUs
that are not actively communicating with an arm blink the battery state of charge
whenever they are shaken, regardless of whether they are sleeping or not.
If the IMU does not communicate with the arm within five (5) minutes of being
shaken awake, the IMU reverts back to sleep mode to conserve the battery.
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Chapter 5: Using the Arm
IMU - Walk Detect
The IMUs are designed to detect rapid foot movements (such as those seen while
walking) and not use these movements as arm commands. For example, if you
shake your feet the IMUs would detect this as motion other than a normal
command. When walk detect is active, the white Arm Mode LED blinks rapidly and
the blue IMU LED is solid. Note that when walk detect is active you will not be able
to move the arm using the IMUs, however, non-IMU controls will continue to
function as configured. If you are concerned about arm movement while walking (or
at other times) put the arm in Standby mode prior to walking.
When you stop walking and the IMUs come to rest, the arm reverts back to the
previous mode (Arm or Hand) the arm was in prior to entering walk detect and
resumes normal operation. This happens automatically when the IMU commands
return to zero. If the walk detect LED continues to blink, this indicates that the arm
is still receiving a command from one of your inputs. To resolve this issue, make
sure your IMUs are positioned correctly, your feet are flat/normal to the ground and
you are not activating any other inputs.
If you cannot resume normal operation of the arm and the white Arm Mode LED
continues blinking with your feet flat on the ground, the IMU zero point is incorrect
and the current signal level is above a set threshold. To fix this issue you need to
re-position the IMUs on your feet or zero the IMUs by going into Standby mode.
See Zeroing the IMUs.
IMU - Angle Limit Detect
The IMUs are designed to detect when you exceed the IMUs’ angle limit. This
occurs when you tip the IMUs more than 45 degrees since the last time the IMUs
were zeroed or were out of range. As a result, the white Arm Mode LED on the
Wrist Display blinks rapidly informing you of the problem.
If the IMUs exceed 45 degrees, you will not be able to move the arm with the IMUs,
however, non-IMU controls will continue to function as designed. To resume normal
operation you need to return your foot/feet to the rest or zero position.
If the white Arm Mode LED continues to blink, you need to reposition the IMUs,
re-position your feet, or zero the IMUs by going into Standby mode. See Zeroing
the IMUs.
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Key Concepts
Mode Change Interlock
If you are in the process of switching modes (Standby to Hand mode or Hand to
Arm mode) and the system detects a command to move, the mode change
interlock becomes active. As a result, the white Arm Mode LED on the Wrist
Display blinks rapidly informing you of the problem.
You can switch modes when mode change interlock is active, however you will not
be able to command the arm. When the IMUs are returned to the zero position or
the wired input falls below the activation threshold you will be able to command the
arm.
If the problem does not clear automatically and the white Arm Mode LED continues
to blink, you need to re-position the IMUs/feet or zero the IMUs by going into
Standby mode (See Zeroing the IMUs) or you need to ensure the wired inputs are
not activated.
Zeroing the IMUs
Zeroing the IMUs establishes a neutral position. When you take the arm out of
Standby mode the system zeros the IMUs by taking a snapshot of the IMU’s
position and identifies that position as neutral. For example, if you should take the
arm out of Standby mode while your feet and attached IMUs are in an inclined
position the IMUs will be zeroed at that position. If you should then place your feet
and IMUs in a different position without zeroing the IMUs the result could be
unintended arm motion. To ensure this does not occur re-zero the IMU s by
performing the following steps:
1. Using the designated mode input place the arm in the Standby mode.
2. Place your feet at the position you want to zero the IMUs (usually feet flat on the
ground).
3. Using the designated mode input take the arm out of Standby mode.
4. The IMUs are now zeroed for that position and the IMU LED blinks blue once
every five (5) seconds.
If you have to continually re-zero the IMUs while not changing the neutral
position you should check to ensure the IMUs and shoe clips are securely
attached to your shoes.
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Chapter 6: Charging the Batteries
Charging the IMU Battery
To charge the IMU battery you need to remove the IMU from its shoe mounting clip
and place the IMU on the charging pad. Note the following when charging the IMU
battery:
•
IMUs cannot be charged during use. The prosthesis stops functioning
and the System Fault Icon on the wrist display illuminates if this is
attempted.
•
Do not place any objects on the charging pad other than the IMUs.
•
Mobius Bionics suggests that you charge the IMU battery overnight.
•
The estimated time to recharge an empty IMU battery to 80% capacity is
less than 2.0 hours.
•
You can charge up to two IMUs at a time on the charging pad.
See Figure 43 to see how the IMU is placed on the charging pad and Table 17 for a
description of the IMU charging status LEDs.
Figure 43. Charging the IMU Battery
Power Cord
Charging Pad
Status LEDs
IMUs
Charging Pad
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Charging the IMU Battery
Table 17.
IMU Battery Charging LED Status
Function
Color
Status
Description
Charging
Blue
Slow Blinking
IMU is performing a self-test.
Fast Blinking
Battery is charging.
NOTE: A fully discharged
IMU may need to partially
charge before the LED will
blink blue. When the IMU is
on the charging pad, the
charging pad’s status LEDs
will be blue.
Fault
Solid
Battery is fully charged.
Amber
Blinking
Indicates a sensor self-test
has failed. Try resetting the
IMU by removing it from the
charging pad, waiting five (5)
seconds, and then placing
the IMU on the charging
pad. If condition continues
contact Technical Support.
See Contacting Technical
Support.
Amber
Solid
Indicates charging has been
paused. The system should
recover from this condition.
If after 30 minutes charging
does not continue, contact
Technical Support for service
on the charger or the IMU.
See Contacting Technical
Support.
To charge the IMU battery perform the following steps:
1. Turn OFF the arm.
2. Plug the charging pad’s AC Adapter into an electrical outlet.
3. Remove the IMU from its shoe mounting clip.
4. Set the IMU on the charging pad circle. (One IMU per circle).
Ensure the IMU is placed on the pad with the LED facing up, so you can view
the IMU LEDs.
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Chapter 6: Charging the Batteries
5. Ensure the charging pad status LEDs are ON when charging the IMUs. See
Figure 43.
6. View the status of the IMU battery charge status LEDs. See Table 17.
7. Reattach the IMU to its shoe clip. The IMU is now ready for use.
You cannot replace the IMU battery. If there is a problem with the IMU
battery, turn the arm power OFF, doff the arm, and contact Technical
Support. See Contacting Technical Support.
IMUs are awake and waiting for communication from the arm once it is
removed from the charging pad. However, the IMU goes into sleep mode if it
has not communicated with the arm within 30 minutes. See Waking a
Sleeping IMU.
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Chapter 7: Maintaining and Troubleshooting the Arm
Troubleshooting the Arm
This section provides basic troubleshooting steps to help you find and resolve
possible problems that may occur with the arm. It also describes how alerts are
generated and indicated to identify possible problems.
If at any time you feel the arm is not in proper working order (e.g., slow to
move, hard to control, making odd sounds, etc.) turn the battery power OFF
and contact Technical Support at once. See Contacting Technical Support.
LUKE Arm System Alerts
The arm system generates alerts to indicate possible problems. Many of these alerts
are indicated by LEDs. The LED may blink or turn a certain color to indicate the
alert. The arm system may also sound a tone to indicate an alert.
All alerts are low priority alarms and technical alarms.
Alerts may be generated when:
•
A battery is discharged
•
Hardware is damaged
Alerts are generated when:
•
Communication with an IMU is lost
•
You attempt to charge an IMU when the prosthesis is in operation
To learn more about these alerts see User Controls and Wrist Display and
Chapter 6, “Charging the Batteries”.
100
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Troubleshooting the Arm
Troubleshooting
The following tables provide solutions to solving problems with the arm.
Table 18.
Troubleshooting - Try This First
These basic tips may help you quickly solve problems with the arm:
TRY
THIS
FIRST
1. Put the arm into Standby Mode.
2. Check and secure the IMUs on your feet.
3. Take the arm out of Standby Mode.
1. Power the arm off.
2. Shake the IMUs to wake them. Look for the blinking blue
LEDs.
3. Make sure all cables are securely connected.
4. Put your feet flat on the ground
5. Power the arm on.
See the tables below to help you in troubleshooting problems with the arm system:
•
Table 19, Troubleshooting - Wrist Display and System Faults
–
•
Table 20, Troubleshooting - Arm Function
–
•
Use this table for help when Wrist Display LEDs are on or flashing
Use this table for help with moving the arm or changing grips
Table 21, Troubleshooting - Power and Battery Charging
–
Use this table for help with powering the arm on and charging batteries
If the solutions in these troubleshooting tables do not solve the problem with the
arm, contact Technical Support. See Contacting Technical Support.
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Chapter 7: Maintaining and Troubleshooting the Arm
Table 19.
Troubleshooting - Wrist Display and System Faults
Problem
Cause
Solution
System Fault Icons Blinking
IMU not awake
1. Power the arm off
2. Shake the IMUs to wake them
Fault Code: 3
3. Power the arm on
IMU battery low
1. Power the arm off
2. Shake the IMU to check the IMU
battery charge level and charge if
necessary
3. Power the arm on
Ham radios, walkie
talkies, theft detectors, or
metal detectors are
affecting the arm
1. Power the arm off
2. Move the arm at least 0.5 m (20 inches)
away from any ham radios, walkie
talkies, theft detectors, or metal
detectors
3. Power the arm on
System Fault Icons Blinking
Fault Code: 36
ACI not talking to arm
1. Power the arm off
2. Check and tighten all system cables
3. Power the arm on
System Fault Icons Blinking
Fault Codes: 25, 26, 34,
256
Arm motors warm
1. Power the arm off
2. Move to a cooler location if possible
3. Wait 15 minutes
4. Power the arm on
System Fault Icons Blinking
Contact Technical Support. See
Fault Code Not Listed
Contacting Technical Support.
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Troubleshooting the Arm
Table 19.
Troubleshooting - Wrist Display and System Faults
Problem
Cause
Solution
Low Battery Icon On
Battery is low
Replace the external battery in the holster
with a fully charged battery.
Plug the AC Adapter into the forearm
charging port
Grip Select LEDs Sweeping
Sweeping
Arm Mode LED Blinking
External battery not
connected
1. Check that the external battery is properly seated in the holster
2. Check and tighten the cables between
the arm and the holster
IMU not talking to arm
Shake the IMUs to wake them
IMU battery is low
Charge the IMUs
Ham radios, walkie
talkies, theft detectors, or
metal detectors are
affecting the arm
Move the arm at least 0.5 m (20 inches)
away from any ham radios, walkie talkies,
theft detectors, or metal detectors
Walk Detect
1. Stop walking
2. Put your feet flat on the ground
3. Check that the Arm Mode LED has
stopped blinking
IMU tilted too far
1. Put the arm into Standby Mode
2. Check and secure the IMUs on your
feet
3. Put your feet flat on the ground
4. Take the arm out of Standby Mode
Input device not working
Contact Technical Support. See
Contacting Technical Support.
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Chapter 7: Maintaining and Troubleshooting the Arm
Table 20.
Troubleshooting - Arm Function
Problem
Cause
Solution
Arm moving without
command
IMU zero position
changed
1. Put the arm into Standby Mode
2. Check and secure the IMUs on your
feet.
3. Put your feet flat on the ground
4. Take the arm out of Standby Mode
Sweat near EMGs
1. Put the arm into Standby Mode
2. Wipe the sweat from the EMG
electrode and skin with a dry cloth
3. Take the arm out of Standby Mode
Ham radios or walkie
talkies are affecting the
arm
1. Put the arm into Standby Mode
2. Move the arm at least 0.5 m (20 inches)
away from any ham radios or walkie
talkies
3. Take the arm out of Standby Mode
Arm not moving
Arm is in Standby Mode
Put the arm into Hand Mode
Arm is off
1. Shake the IMUs to wake them
2. Power the arm on
Arm is faulted
See Table 19, Troubleshooting - Wrist
Display and System Faults.
Input device not
connected
1. Power the arm off
2. Check and tighten all connections at the
ACI
3. Power the arm on
Cannot change Modes
Input device not
connected
1. Power the arm off
2. Check and tighten all connections at the
ACI
3. Power the arm on
Input device not working
Contact Technical Support. See
Contacting Technical Support.
Cannot change grips
Hand is not fully open
1. Put the arm into Hand Mode
2. Fully open the hand
3. Change grips
Input device not working
Contact Technical Support. See
Contacting Technical Support.
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Troubleshooting the Arm
Table 21.
Troubleshooting - Power and Battery Charging
Problem
Cause
Solution
Arm does not power on
Internal battery too low
1. Plug the AC Adapter into the forearm
charging port
2. The charging status icon first blinks
yellow for a few minutes. Wait until the
charging status icon blinks blue.
3. Power the arm on
External battery too low
1. Replace the external battery in the holster with a fully charged one
2. Power the arm on
External battery not
connected
1. Check that the external battery is properly seated in the holster
2. Check and tighten the cables between
the arm and the holster
3. Power the arm on
Internal Battery Charging
Charging Status Icon Blinking
Yellow
Internal battery charging
paused
1. Move the arm to a cooler location
2. Wait up to 2 hours. You can keep the
arm on and the AC adapter connected
while waiting.
3. Charging should continue on its own. If
it does not, contact Technical Support.
See Contacting Technical Support.
Charging Status Icon On
Solid Yellow
Internal battery charging
fault
Contact Technical Support. See
Contacting Technical Support.
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Chapter 7: Maintaining and Troubleshooting the Arm
Table 21.
Troubleshooting - Power and Battery Charging
Problem
Cause
Solution
Charging Dock Fault Status
Blinking Yellow
Charging paused
1. Wait up to 2 hours. You can keep the
charging dock on and the battery in the
charging dock while waiting.
2. Charging should continue on its own. If
it does not, contact Technical Support.
See Contacting Technical Support.
Charging Dock Fault Status
On Solid Yellow
Charging fault
Contact Technical Support. See
External Battery Charging
Contacting Technical Support.
IMU Charging
IMU Yellow LED On Solid
Charging paused
1. Wait up to 30 minutes. You can keep
the charging pad on and the IMU on the
charging pad while waiting.
2. Charging should continue on its own. If
it does not, contact Technical Support.
See Contacting Technical Support.
IMU Yellow LED Blinking
Self test failure
1. Remove the IMU from the charging pad
2. Wait 5 seconds
3. Place the IMU on the charging pad
4. If the error persists, contact Technical
Support. See Contacting Technical
Support.
IMU LED off
IMU not talking to
charging pad
1. Clean the top of the charging pad.
2. Clean the bottom of the IMU.
3. Place the IMU, LED side up, on the
charging pad’s center circle.
If the solutions in these troubleshooting tables do not solve the problem with the
arm, contact Technical Support. See Contacting Technical Support.
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A
Technical Specifications
This appendix provides technical specifications for the LUKE arm, battery, AC
Adapter and charging pad.
Arm Specifications
Table 22.
Arm System Specifications
Parameter
Range/Explanation
Compliance
The LUKE arm system complies with IEC 60601-1:2005
Power Type
The arm is internally powered when under battery power
Designation
The arm is designated Class II when plugged into the AC Adapter
Parts Type
The arm and all body worn accessories are Type BF applied parts
Table 23.
Operating Environmental Range
Parameter
Operating Temperature
Range/Explanation
• 10 °C to 40 °C (50 °F to 104 °F) with no degradation in
performance
• -10 °C to 50 °C (14 °F to 122 °F) with reduced arm speed
and/or load capacity
Humidity
15% to 93% (non-condensing)
Pressure
700 hPa to 1060 hPa
Arm and body worn Mobius
Bionics supplied accessories IP
rating
IP52
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107
Appendix A: Technical Specifications
Table 23.
Operating Environmental Range (Continued)
Parameter
Range/Explanation
IMU IP Rating
IP57
When using the arm continuously in a hot environment (40°C, 104°F) and
while charging the internal battery, portions of the forearm and upper arm (if
applicable) could reach temperatures of 54°C - 57°C (130°F - 135°F), when
evaluated as directed in IEC60601-1: 2005-12.
Table 24.
Transport and Storage Environmental Range
Parameter
Range
Storage Temperature (excluding
battery)
-25 °C to 70 °C (-13 °F to 158 °F)
Humidity
15% to 93% (non-condensing)
Pressure
700 hPa to 1060 hPa
Table 25.
Service Life Specifications
Part
Service Life
Arm
Expected to function for up to three (3) years with an 18 month
service interval
Internal and External Batteries
Expected to provide at least 80% of new capacity for up to a year of
typical use
IMU Battery
Expected runtime is at least 18 hours for up to a year of use
AC Adapter and Charging Pad
Expected to function for up to three (3) years
External Battery Holster and
External Battery Charging Dock
Expected to function for up to three (3) years
ACI and Cables
Expected to function for up to three (3) years
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Arm Specifications
Table 26.
Mass of Arm Configurations
Arm Configuration
Mass
Shoulder Configuration (SC)
4.7 kg
Humeral Configuration (HC)
3.4 kg
Radial Configuration (RC)
1.4 kg
Table 27.
Dimensions of Arm Configurations
Arm Configuration
Dimensions
Shoulder Configuration (SC)
See Figure 48
Humeral Configuration (HC)
See Figure 49
Radial Configuration (RC)
See Figure 50
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Appendix A: Technical Specifications
Figure 48. Dimensions of Shoulder Configuration (In Centimeters)
9.8
23
23.2323
See Note
23aa
26.4
See Note 2
4.3
23.4
38.6
26.4
14.5
19.5
110
•
NOTE 1: Upper arm length configurations in 1 cm increments from 26.4 to
31.4 cm. See Arm Types.
•
NOTE 2: Forearm length configurations in 1 cm increments from 23.4 cm to
27.4 cm. See Arm Types
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Arm Specifications
Figure 49. Dimensions of Humeral Configuration (In Centimeters)
14.5
12.7
17.3
23.4
19.5
See Note 3
•
NOTE 3: Forearm length configurations in 1 cm increments from 23.4 cm to
27.4 cm. See Arm Types.
Figure 50. Dimensions of Radial Configuration (In Centimeters)
12.1
31.6
14.5
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Appendix A: Technical Specifications
Battery Specifications
Table 28.
Battery Charge and Operation Times
Arm System
Configuration
Battery Type
One (1) Hour Charge
Operation Time1
SC/HC
Internal Battery
One (1) Hour
Two (2) Hours
SC/HC
External Battery
Two (2) Hours
Five (5) Hours
RC
External Battery
Four (4) Hours
Ten (10) Hours
IMU
Not Applicable
Not Applicable
One (1) Day
Full Charge2
Operation Time1
NOTES:
1. Actual use time may vary from stated figures based on use patterns, battery age, and arm configuration.
Contact Technical Support for additional information. See Contacting Technical Support.
2. See Chapter 6, “Charging the Batteries” for charging time.
Table 29.
Power Specifications - Internal Battery
Parameter
Range/Explanation
Battery Type
Lithium-Ion
Capacity
30 Watt-Hours
Charging time (approximate)
80% capacity in less than 2.0 hours
Storage Life
Three (3) months without recharging
Storage Temperature
Short Term (24 Hours Maximum): -25°C to 70°C (-13°F to 158°F)
Long Term: -10°C to 50°C (14°F to 122°F)
Table 30.
Power Specifications - External Battery
Parameter
Range/Explanation
Battery Type
Lithium-Ion
Capacity
74 Watt-Hours
Charging time (approximate)
80% capacity in less than 2.0 hours
Storage Life
Three (3) months without recharging
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AC Adapter Specifications
Table 30.
Power Specifications - External Battery (Continued)
Parameter
Range/Explanation
Storage Temperature
Short Term (24 Hours Maximum): -25 °C to 70 °C (-13 °F to
158 °F)
Long Term: -10 °C to 50 °C (14 °F to 122 °F)
Table 31.
Power Specifications - IMU Battery
Parameter
Range/Explanation
Battery Type
Lithium-Polymer
Capacity
190 mAh
Charging time (approximation)
80% capacity in less than two (2.0) hours
Storage Life
Three (3) months without recharging
Storage Temperature
Short Term (24 Hours Maximum): -25 °C to 70 °C (-13 °F to
158 °F)
Long Term: -10 °C to 50 °C (14 °F to 122 °F)
AC Adapter Specifications
Table 32.
AC Adapter Specifications
Parameter
Range/Explanation
Input Voltage
100 VAC - 240 VAC
Input Frequency
50/60 Hz
Input Current
1.5 Amps
Operating Temperature
0 °C to +70 °C (32 °F to 158 °F)
Operating Humidity
10% to 95% RH, non-condensing
Storage Temperature
-40 °C to +80 °C (-40 °F to 176 °F)
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Appendix A: Technical Specifications
Charging Pad Specifications
Table 33.
Charging Pad Specifications
Parameter
Range/Explanation
Input Voltage
100 VAC - 240 VAC
Input Frequency
50/60 Hz
Current Rating
1 Amp Maximum
Transmit Frequency Range
100 kHz - 205 kHz
Transmit Power
<5 W
Protocol
Qi version 1.1, Wireless Power Consortium
Effective Range
10 mm or less
Wireless Security
Qi version 1.1
Quality of Service Provisions
Any debris or clutter between the bottom of the IMU and the
Charging Pad may prevent IMU charging. Any increase in the
distance between the IMU and Charging Pad will increase
communication interference. This interference, however, will not
cause any incorrect data to be sent and will not cause any harm to
the LUKE arm system.
Loss or corruption of data between the IMU and Charging Pad for
more than 2 seconds can result in the interruption of charging.
In these cases, communication problems can usually be resolved by
ensuring the top of the Charging Pad is clean and clear of clutter,
the IMU is clean and its label is free of wrinkles, and that IMUs are
placed label side down and placed as close as possible to the center
of the charging pad targets.
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Arm Radio Specifications
Arm Radio Specifications
Table 34.
Arm Radio Specifications
Parameter
Range/Explanation
Transmit and Receive Frequency
Range
2.4 - 2.5 GHz
Effective Radiated Power
<10 mW
Modulation
Direct Sequence Spread Spectrum per IEEE 802.15.4-2006
Protocol
Proprietary Frequency Hopping Communication Protocol
FCC Compliance
This device complies with part 15 of the FCC Rules. Operation is
subject to the following two conditions: (1) This device may not
cause harmful interference, and (2) this device must accept any
interference received, including interference that may cause
undesired operation.
Pursuant to FCC 15.21 of the FCC rules, changes not expressly
approved by Mobius Bionics might cause harmful interference and
void the FCC authorization to operate this product.
This product complies with FCC OET Bulletin 65 radiation
exposure limits set forth for an uncontrolled environment.
Effective Range (Arm/IMU)
3 m or less
Effective Range (Arm/Dongle)
1 m or less
Wireless Security
Proprietary Frequency Hopping Communication Protocol
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Appendix A: Technical Specifications
Table 34.
Arm Radio Specifications (Continued)
Parameter
Range/Explanation
Quality of Service Provisions
Interruption or corruption of communication between the Arm and
IMUs can lead to interruptions in arm motion. Interruption of
communication for more than 2 seconds may lead to the system
reverting to Standby mode. Interruption of communication for more
than 8 seconds results in the system declaring a fault.
Common consumer electronic devices that transmit in the same
frequency band used by the LUKE arm system may prevent the
Arm and IMUs from communicating. Microwave ovens, Bluetooth®
devices, Wi-Fi® networks and 2.4 GHz cordless phones, when
transmitting or receiving, can cause interruption of communication
between the Arm and IMUs. During testing, the LUKE arm system
experienced occasional communication interruptions in the
presence of Bluetooth mice. It is likely that other devices operating
in similar frequency ranges can have a similar effect. This
interference, however, will not cause any incorrect data to be sent
and will not cause any harm to the LUKE arm system.
Some metal detectors and anti-theft detection systems at store exits
transmit in the same frequency band used by the LUKE arm system.
These devices can cause interruption of communication between
the Arm and IMUs. Again, this interference will not cause any
incorrect data to be sent and will not cause any harm to the LUKE
arm system.
In each of these cases, communication problems can usually be
resolved by turning off or moving away from other RF transmitting
devices.
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B
Guidance and Manufacturer’s
Declaration
This Appendix details information on the electromagnetic environment and
recommended spacing between portable and mobile RF communications
equipment (transmitters) and the LUKE arm system.
Electromagnetic Environment
The LUKE arm system is intended for use in the electromagnetic environment
specified in Table 35 and Table 36. The user of the LUKE arm system should
assure that it is used in such an environment.
Electromagnetic Emissions
Table 35. Guidance and Manufacturer’s Declaration - Electromagnetic Emissions
Emissions Test
RF emissions
Compliance
Group 1
The LUKE arm system uses RF energy only for its
internal function. Therefore, its RF emissions are very
low and are not likely to cause any interference in
nearby electronic equipment.
Class B
The LUKE arm system is suitable for use in all
establishments, including domestic establishments and
those directly connected to the public low voltage
power supply network that supplies buildings used for
domestic purposes.
CISPR 11
RF emissions
CISPR 11
Electromagnetic Environment - Guidance
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117
Appendix B: Guidance and Manufacturer’s Declaration
Electromagnetic Immunity
Table 36. Guidance and Manufacturer’s Declaration - Electromagnetic Immunity
Immunity Test
Electrostatic
discharge (ESD)
IEC 60601 Test
Level
Compliance Level
+/- 6 kV contact
+/- 6 kV contact
+/- 8 kV air
+/- 8 kV air
Electrical fast
transient/burst
+/- 2 kV for power
+/- 2 kV for power
supply lines
supply lines
IEC 61000-4-4
+/- 1 kV for
input/output
+/- 1 kV for
input/output
lines
lines
Surge
+/- 1 kV line(s) to
+/- 1 kV line(s) to
IEC 61000-4-5
line(s)
line(s)
+/- 2 kV line(s) to
earth
+/- 2 kV line(s) to earth
<5% UT
<5% UT
(>95% dip in UT)
(>95% dip in UT)
for 0,5 cycle
for 0,5 cycle
40% UT
40% UT
(60% dip in UT)
(60% dip in UT)
for 5 cycles
for 5 cycles
70% UT
70% UT
(30% dip in UT)
(30% dip in UT)
for 25 cycles
for 25 cycles
<5% UT
<5% UT
(>95% dip in UT)
(>95% dip in UT)
for 5 s
for 5 s
3 A/m
3 A/m
IEC 61000-4-2
Voltage dips, short
interruptions and
voltage variations
on power supply
input lines
IEC 61000-4-11
Power frequency
(50/60 Hz)
magnetic field
IEC 61000-4-8
Electromagnetic
Environment - Guidance
Floors should be wood,
concrete or ceramic tile. If
floors are covered with
synthetic material, the relative
humidity should be at least
30%.
Mains power quality should be
that of a typical commercial or
hospital environment.
Mains power quality should be
that of a typical commercial or
hospital environment.
Mains power quality should be
that of a typical commercial or
hospital environment. If the
user of the LUKE arm system
requires continued operation
during power mains
interruptions, it is
recommended that the LUKE
arm system be powered from
an uninterruptible power
supply or a battery.
Power frequency magnetic
fields should be at levels
characteristic of a typical
location in a typical
commercial or hospital
environment.
NOTE: UT is the a.c. mains voltage prior to application of the test level.
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Electromagnetic Environment
Table 36. Guidance and Manufacturer’s Declaration - Electromagnetic Immunity
Immunity Test
IEC 60601 Test
Level
Compliance Level
Electromagnetic
Environment - Guidance
Portable and mobile RF
communications equipment
should be used no closer to
any part of the LUKE arm
system, including cables, than
the recommended separation
distance calculated from the
equation applicable to the
frequency of the transmitter.
Recommended Separation
Distance:
Conducted RF
3 Vrms
3 Vrms
IEC 61000-4-6
150 kHz to 80 MHz
150 kHz to 80 MHz
Radiated RF
3 V/m
10 V/m
IEC 61000-4-3
80 MHz to 2.5 GHz
26 MHz to 80 MHz
(continued on next
page)
3 V/m
d = 1.2 P
d = 0.35 P
d = 1.2 P
80 MHz to 460 MHz
10 V/m
d = 0.35 P
460 MHz to 470 MHz
3 V/m
d = 1.2 P
470 MHz to 690 MHz
20 V/m
d = 0.18 P
690 MHz to 800MHz
20 V/m
d = 0.35 P
800MHz to 965 MHz
(continued on next page)
where P is the maximum
output power rating of the
transmitter in watts (W)
according to the transmitter
manufacturer and d is the
recommended separation
distance in meters (m).
Rev. 1.8 -- Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document
119
Appendix B: Guidance and Manufacturer’s Declaration
Table 36. Guidance and Manufacturer’s Declaration - Electromagnetic Immunity
Immunity Test
IEC 60601 Test
Level
Compliance Level
Radiated RF
3 V/m
3 V/m
IEC 61000-4-3
80 MHz to 2.5 GHz
965MHz to 1.39 GHz
Electromagnetic
Environment - Guidance
d = 2.3 P
(continued)
20 V/m
d = 0.35 P
1.39 GHz to 6.0 GHz
Field strengths from fixed RF
transmitters, as determined by
an electromagnetic site surveya
should be less than the
compliance level in each
frequency range.b
Interference may occur in the
vicinity of equipment marked
with the following symbol:
Magnetic Fields
generated by:
N/A
0.1 kHz - 3.5 kHz
300 A/m
No special precautions
required.
• Metal Detectors
10 kHz - 60 kHz
• EAS Systems
and Tag
Deactivators
(No Standard
Applied)
50 A/m
50 kHz - 150 kHz
30 A/m
NOTE 1: At 80 MHz, 460 MHz, 470 MHz, 690 MHz, 800 MHz, 965 MHz, and 1.39 GHz, the higher
frequency range applies.
NOTE 2: These guidelines may not apply in all situations. Electromagnetic propagation is affected by
absorption and reflection from structures, objects and people.
a Field strengths from fixed transmitters, such as base stations for radio (cellular/cordless) telephones and
land mobile radios, amateur radio, AM and FM radio broadcast and TV broadcast cannot be predicted
theoretically with accuracy. To assess the electromagnetic environment due to fixed RF transmitters, an
electromagnetic site survey should be considered. If the measured field strength in the location in which
the LUKE arm system is used exceeds the applicable RF compliance level above, the LUKE arm system
should be observed to verify normal operation. If abnormal performance is observed, additional
measures may be necessary, such as re-orienting or relocating the LUKE arm system.
b Over the frequency range 150 kHz to 80 MHz, field strengths should be less than 3 V/m.
120
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document -- Rev. 1.8
Recommended Separation Distances
Recommended Separation Distances
The LUKE arm system is intended for use in an electromagnetic environment in
which radiated RF disturbances are controlled. The user of the LUKE arm system
can help prevent electromagnetic interference by maintaining a minimum distance
between portable and mobile RF communications equipment (transmitters) and the
LUKE arm system as recommended below, according to the maximum output
power of the communications equipment.
Table 37 and Table 38 defines the recommended separation distances between
portable and mobile RF communications equipment and the LUKE arm system.
Table 37.
Recommended Separation Distances (Part I)
Rated Maximum Output
Power of Transmitter
Separation Distance According to Frequency of Transmitter
150 kHz 80 MHz
26 MHz 80 MHz
80 MHz 460 MHz
460 MHz 470 MHz
470 MHz 690 MHz
d = 1.2 P
d = 0.35 P
d = 1.2 P
d = 0.35 P
d = 1.2 P
0.01
0.12
0.035
0.12
0.035
0.12
0.1
0.37
0.11
0.37
0.11
0.37
1.2
0.35
1.2
0.35
1.2
10
3.7
1.1
3.7
1.1
3.7
100
12
3.5
12
3.5
12
For transmitters rated at a maximum output power not listed above, the recommended separation distance
d in meters (m) can be estimated using the equation applicable to the frequency of the transmitter, where P
is the maximum output power rating of the transmitter in watts (W) according to the transmitter
manufacturer.
NOTE 1: At 80 MHz, 460 MHz, 470 MHz, 690 MHz, 800 MHz, 965 MHz, and 1.39 GHz, the
separation distance for the higher frequency range applies.
NOTE 2: These guidelines may not apply in all situations. Electromagnetic propagation is affected by
absorption and reflection from structures, objects and people.
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121
Appendix B: Guidance and Manufacturer’s Declaration
Table 38. Recommended Separation Distances (Part II)
Rated Maximum Output
Power of Transmitter
Separation Distance According to Frequency of Transmitter
690 MHz 800 MHz
800 MHz 965 MHz
965 MHz 1.390 GHz
1.390 GHz 6.0 GHz
d = 0.18 P
d = 0.35 P
d = 2.3 P
d = 0.35 P
0.01
0.018
0.035
0.23
0.035
0.1
0.055
0.11
0.74
0.11
0.18
0.35
2.3
0.35
10
0.55
1.1
7.4
1.1
100
1.8
3.5
23
3.5
For transmitters rated at a maximum output power not listed above, the recommended separation distance
d in meters (m) can be estimated using the equation applicable to the frequency of the transmitter, where P
is the maximum output power rating of the transmitter in watts (W) according to the transmitter
manufacturer.
NOTE 1: At 80 MHz, 460 MHz, 470 MHz, 690 MHz, 800 MHz, 965 MHz, and 1.39 GHz, the
separation distance for the higher frequency range applies.
NOTE 2: These guidelines may not apply in all situations. Electromagnetic propagation is affected by
absorption and reflection from structures, objects and people.
Essential Performance
The following items are the Essential Performance of the LUKE arm system.
The LUKE arm system:
122
•
is able to safely power on and off.
•
enters Standby mode at power on.
•
hand open button operates normally.
•
gross motor movements are slowed within the slowdown region.
•
low battery alert operates normally.
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document -- Rev. 1.8
LUKE Arm
Prosthetist Reference Guide
Part Number: LU-09015-001
Revision: 1.5
Date: December 05, 2016
Manufactured by:
Mobius Bionics
470 Commercial Street
Manchester, NH 03101
www.mobiusbionics.com
Copyright
Copyright © 2016. Mobius Bionics LLC. All rights reserved.
Mobius Bionics LLC. (Mobius) proprietary rights are included herein. This document
contains Mobius confidential information and may not be copied, transferred, or
disclosed except as authorized by Mobius.
Trademarks
Bluetooth® is a registered trademark of Bluetooth SIG.
Wi-Fi® is a registered trademark of Wi-Fi Alliance.
Windows® is a registered trademark of Microsoft Corporation.
Contents
Contents
About This Guide
Intended Audience .......................................................................................
How to Use This Guide ................................................................................
Conventions ................................................................................................
Terminology................................................................................................
Acronyms ...................................................................................................
Contacting Technical Support .......................................................................
Chapter 1
Overview
The Client ...................................................................................................
Indications For Use.................................................................................
Contraindications For Use.......................................................................
LUKE Arm System ......................................................................................
Arm Configurations................................................................................
Shoulder Configuration (SC) ..............................................................
Humeral Configuration (HC)..............................................................
Radial Configuration (RC)..................................................................
Batteries................................................................................................
Internal Battery ................................................................................
External Battery ...............................................................................
External Battery Holster..........................................................................
Battery Chargers and Charging Dock.......................................................
AC Adapter .....................................................................................
Charging Pad ...................................................................................
Charging Dock.................................................................................
ACI (Arm Control Interface) Modules .......................................................
Input/Output Control Devices .................................................................
The Fitting Arm .....................................................................................
Chapter 2
17
18
20
22
23
24
27
28
28
29
30
30
30
30
32
32
33
34
35
35
36
36
37
38
38
Safety
Safety Guidelines - Arm ................................................................................ 39
Electromagnetic Interference (EMI) Safety....................................................... 45
Safety Guidelines - Battery ............................................................................ 45
Chapter 3
User Inputs/Outputs and the Control Scheme
Arm Controls — Switching vs. Motion ...........................................................
User Inputs..................................................................................................
IMUs (Inertial Measurement Units) ...........................................................
Description ......................................................................................
Places Used .....................................................................................
Arm Controls ...................................................................................
How They Are Used .........................................................................
Restrictions ......................................................................................
EMG - Electromyography (Surface EMG Electrodes) .................................
Description ......................................................................................
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48
48
48
49
49
49
49
50
50
Contents
Places Used .....................................................................................
Arm Controls ...................................................................................
How They Are Used .........................................................................
Restrictions ......................................................................................
Pressure Switches...................................................................................
Description ......................................................................................
Places Used .....................................................................................
Arm Controls ...................................................................................
How They Are Used .........................................................................
Restrictions ......................................................................................
Rocker Switches.....................................................................................
Description ......................................................................................
Places Used .....................................................................................
Arm Controls ...................................................................................
How They Are Used .........................................................................
Restrictions ......................................................................................
Pressure Transducers..............................................................................
Description ......................................................................................
Places Used .....................................................................................
Arm Controls ...................................................................................
How They Are Used .........................................................................
Restrictions ......................................................................................
Linear Transducers.................................................................................
Description ......................................................................................
Places Used .....................................................................................
Control Types ..................................................................................
How They Are Used .........................................................................
Restrictions ......................................................................................
User Output - Tactor ....................................................................................
Chapter 4
Battery Types and User Controls
System Battery Types...................................................................................
User Controls and Wrist Display....................................................................
Power ON/OFF Button Location.............................................................
Turning the Arm ON and OFF ................................................................
Wrist Display .........................................................................................
Low Battery Icon and Low Battery Alert .........................................
System Fault Icon ..........................................................................
Arm Mode LED and Grip Select LEDs ............................................
Display Button .................................................................................
Displaying the Battery Charge Level...................................................
Changing the Display Brightness........................................................
Swapping IMUs................................................................................
IMU LED Status .....................................................................................
Hand Open Button.................................................................................
Orienting The Arm While Pressing The Hand Open Button .................
Arm System and Wrist Display Button Durability.............................................
50
50
50
50
51
51
51
51
51
51
52
52
52
52
52
52
53
53
53
53
53
53
54
54
54
54
54
54
55
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59
59
61
61
62
62
63
64
64
65
65
66
68
69
70
-- Rev. 1.5
Contents
Chapter 5
Arm System Installation and Setup
Installation and Setup Overview..................................................................... 73
Chapter 6
Fabricating the Socket System and Mounting the Arm
The Fitting Arm ........................................................................................... 76
Adjusting the Fitting Arm ........................................................................ 77
Modifying the Fitting Arm for a Specific Configuration .............................. 78
Socket System and Arm Mounting Overview .................................................. 79
Mounting the Arm ....................................................................................... 80
Mounting Point of View .......................................................................... 80
Mounting the RC (Radial Configuration) Arm ................................................. 81
Installing and Connecting the RC Cable ................................................... 84
Tightening the Cable Connections to the Radial Interface Box.................... 88
Mounting the RC Arm ............................................................................ 89
Mounting the HC (Humeral Configuration) Arm ............................................. 91
Mounting the HC Cable .................................................................... 94
Mounting the SC (Shoulder Configuration) Arm.............................................. 96
SC Bend Bracket Mounting..................................................................... 96
Attaching the Fitting Arm ..................................................................... 101
Laminating the SC Socket Adapter ........................................................ 102
Mounting the SC Arm .......................................................................... 103
Sealing of the Shoulder Bellows ....................................................... 103
Attaching the SC Arm .................................................................... 104
Configuring the Shoulder’s Neutral Position ...................................... 106
Mounting the SC Cable................................................................... 106
Chapter 7
Installing/Connecting ACI Modules and User Inputs
ACI (Arm Control Interface) Module Overview ..............................................
Locating ACI Modules ...............................................................................
Mounting the ACI Module...........................................................................
Screwing the Module to the Socket ..................................................
Laminating the ACI Module to the Socket ........................................
Attaching the Module Using Hook and Loop Fasteners......................
Attaching the Module Using Mounting Loops....................................
Connecting the ACI Module, User Inputs and Tactor.....................................
Connecting the Power and Communications Line ...................................
Connecting User Inputs ........................................................................
Connecting User Inputs - Surface EMG Electrodes ..................................
Connecting the Tactor..........................................................................
Tightening the Cable Connections to the ACI .........................................
Securing the ACI Cables .......................................................................
Assigning an ACI Module ID .......................................................................
Chapter 8
108
108
108
108
108
109
109
109
110
111
112
113
114
115
115
Installing IMUs
Installing the IMU in the Shoe Clip .............................................................. 118
Installing the IMU/Shoe Clip on the Client’s Shoe ........................................ 120
Waking a Sleeping IMU .............................................................................. 121
Rev. 1.5 -- Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document
Contents
Chapter 9
Installing, Connecting, and Charging the System Batteries
Battery Charging Safety .............................................................................
Connecting the External Battery Holster to the Arm .....................................
Disconnecting the External Battery Extension Cable......................................
Testing and Charging the Batteries ..............................................................
Testing the Internal Battery Charge Level ...............................................
Charging the Internal Battery ................................................................
Testing the External Battery Charge Level ..............................................
Charging the External Battery ...............................................................
Removing the External Battery from the Holster ...............................
Installing the External Battery in the Holster......................................
Testing the IMU Battery Charge Level ...................................................
Charging the IMU Battery .....................................................................
Chapter 10
Key Concepts and Operating Modes
Motion vs. Switching ..................................................................................
Operating Modes .......................................................................................
IMU - Walk Detect................................................................................
IMU - Angle Limit Detect ......................................................................
Mode Change Interlock.........................................................................
Zeroing the IMUs .................................................................................
Operating Modes and Motions ....................................................................
Standby Mode (No Motion) ...................................................................
Hand Mode Motions.............................................................................
Opening or Closing the Hand..........................................................
Compound Wrist Motions ...............................................................
Rotating the Wrist ..........................................................................
Selecting a Grip ...................................................................................
Power Grip (Grip Select LED 1).......................................................
Tool Grip (Grip Select LED 2) .........................................................
Fine Pinch Closed Grip (Grip Select LED 3) ......................................
Fine Pinch Open Grip (Grip Select LED 4)........................................
Lateral Pinch Grip (Grip Select LED 5) .............................................
Chuck Grip (Grip Select LED 6).......................................................
Grip Detents ..................................................................................
Arm Mode Motions ....................................................................................
SC Arm Motions ..................................................................................
Moving the Hand Up or Down (SC Arm) ..........................................
Moving the Hand Left or Right (SC Arm)..........................................
Moving the Hand Forward or Backward (SC Arm) .............................
Voluntary Elbow Positioning - Medial/Lateral (SC Arm) .....................
HC Arm Motions .......................................................................................
Elbow Flexion - Extension (HC Arm) ......................................................
Humeral Internal - External Rotation (HC Arm).......................................
Chapter 11
124
125
126
126
127
127
129
130
133
133
134
134
139
140
141
141
142
142
143
143
143
144
144
146
146
147
148
149
149
150
152
152
153
153
154
154
155
155
156
156
157
Configuring the Arm Using the Prosthetist Interface
Installing the Prosthetist Interface ................................................................ 159
Installing the Prosthetist Interface Software............................................. 159
Installing the FTDI (Windows) Drivers ..................................................... 161
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-- Rev. 1.5
Contents
If Connected to the Internet.............................................................
If NOT Connected to the Internet ....................................................
Opening the Prosthetist Interface ................................................................
Navigating The Prosthetist Interface.............................................................
Arm PI Menus......................................................................................
Settings Menu ................................................................................
Configuration Menu........................................................................
Configuration Steps and Dynamic Configuration Screen ..........................
Update Arm ........................................................................................
Save Configuration to File.....................................................................
Virtual Reality Environment...................................................................
View Input Signals................................................................................
Status..................................................................................................
Arm Illustration ....................................................................................
Tool Tips.............................................................................................
Using the Prosthetist Interface.....................................................................
STEP 1: Discover and Select Master Arm Controller (MAC)...........................
Discovering and Selecting the MAC .......................................................
STEP 2: Client Configuration......................................................................
Initial Configuration ........................................................................
Existing Configurations ...................................................................
Create a New Configuration..................................................................
Select the Arm Assembly ......................................................................
Zero the Shoulder (if fitting an SC arm) ..................................................
Clear the Arm Configuration .................................................................
Read the Current Configuration from the Arm........................................
Load a Configuration from File..............................................................
STEP 3: Configure ACI Modules .................................................................
Wired ACIs ....................................................................................
Wireless IMUs ................................................................................
Configuring a New ACI for the First Time.........................................
Understanding Thresholds and Gains ...........................................................
Thresholds...........................................................................................
Gains ..................................................................................................
Setting Joint or Motion Speed Limits...........................................................
Input Gains..........................................................................................
Input Thresholds ..................................................................................
Output Gains .......................................................................................
Step 4: Configure Inputs ............................................................................
Step 5: Configure Arm Actions ...................................................................
Selecting and Activating an Action.........................................................
Configuration Screens - Arm Actions ...............................................
Tool Tips and Keyboard Shortcuts...............................................................
What’s Next ..............................................................................................
Chapter 12
161
162
166
167
167
167
169
173
173
174
175
175
176
176
177
177
178
179
179
179
180
181
182
182
183
184
185
185
187
187
187
190
190
190
190
191
191
191
192
196
199
199
202
202
Virtual Reality Environment and Viewing Input Signals
Using the Virtual Reality Environment..........................................................
Controlling the VRE Image .........................................................................
Viewing Input Signals .................................................................................
Troubleshooting Connection Problems.........................................................
What’s Next ..............................................................................................
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207
208
208
208
Contents
Chapter 13
Using the Arm
Safe Operation of the System .....................................................................
What To Do If the Arm Is Not In Proper Working Order..........................
Arm Is Not in Proper Working Order ...............................................
Unsure When Using the Arm...........................................................
Releasing the Hand/Arm Using the Hand Open Button.....................
Doffing the Arm .............................................................................
Safe Motions .......................................................................................
Taking It Slow......................................................................................
Practicing Safe Operation of the System ................................................
Carrying Heavy Objects ........................................................................
Initializing the Arm.....................................................................................
Re-Initializing the Arm ................................................................................
Improper Shutdowns..................................................................................
LUKE Arm User Guide...............................................................................
What’s Next ..............................................................................................
Chapter 14
Maintaining and Troubleshooting the Arm
Maintaining the Arm ..................................................................................
Removing and Replacing the Fingernails, Finger Covers and Hand Cover .
Removing and Replacing Fingernails ................................................
Removing and Replacing Finger Covers ...........................................
Removing and Replacing Hand Cover ..............................................
Cleaning the Arm.................................................................................
Troubleshooting the Arm............................................................................
LUKE Arm System Alerts .....................................................................
Troubleshooting ...................................................................................
Appendix A
Prosthetist Checklist
Appendix B
Technical Specifications
Arm Specifications .....................................................................................
Battery Specifications .................................................................................
AC Adapter Specifications ..........................................................................
Charging Pad Specifications........................................................................
Arm Radio Specifications............................................................................
Appendix C
219
220
221
222
222
224
225
225
226
241
245
247
248
249
Manufacturers and Part Numbers
LUKE Arms ..............................................................................................
Hand and Finger Covers.............................................................................
General Accessories ...................................................................................
User Inputs................................................................................................
Optional Accessories ..................................................................................
External Cables..........................................................................................
Socket Fabrication Components..................................................................
211
211
212
212
212
213
213
214
214
215
215
216
216
217
217
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252
253
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-- Rev. 1.5
Contents
Appendix D
Guidance and Manufacturer’s Declaration
Electromagnetic Environment......................................................................
Electromagnetic Emissions ....................................................................
Electromagnetic Immunity.....................................................................
Recommended Separation Distances ...........................................................
Essential Performance ................................................................................
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257
258
261
262
Contents
10
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-- Rev. 1.5
Contents
List of Figures
Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
Figure 10.
Figure 11.
Figure 12.
Figure 13.
Figure 14.
Figure 15.
Figure 16.
Figure 17.
Figure 18.
Figure 19.
Figure 20.
Figure 21.
Figure 22.
Figure 23.
Figure 24.
Figure 25.
Figure 26.
Figure 27.
Figure 28.
Figure 29.
Figure 30.
Figure 31.
Figure 32.
Figure 33.
Figure 34.
Figure 35.
Figure 36.
Figure 37.
Figure 38.
Figure 39.
Figure 40.
Figure 41.
Figure 42.
Figure 43.
Arm Configurations................................................................ 31
Internal Battery/Power Interface Location ................................ 32
External Battery ..................................................................... 33
External Battery Holster.......................................................... 34
AC Adapter........................................................................... 35
Wireless Charging Pad for IMU Battery .................................... 36
Charging Dock ...................................................................... 36
ACI Module ........................................................................... 37
Pinch Point Areas .................................................................. 44
Inertial Measurement Unit....................................................... 48
Example Surface EMG Electrode ............................................. 50
Pressure Switches .................................................................. 51
Rocker Switches .................................................................... 52
Pressure Transducer ............................................................... 53
Linear Transducer .................................................................. 54
Tactor................................................................................... 55
Power Button and LED - SC, HC, and RC Arms With External
Battery Only .......................................................................... 59
Power Button and LED - SC and HC Arms with Internal Battery 60
Wrist Display ......................................................................... 61
Hand Open Button ................................................................ 68
Arm and Wrist Display Button Durability .................................. 70
Fitting Arm............................................................................ 76
Adjusting the Fitting Arm for Range of Motion ......................... 77
Modifying the Fitting Arm for a Specific Configuration .............. 78
Point of View - Mounting the Arm ........................................... 80
RC Socket Adapter ................................................................ 81
R-TOP and L-TOP Mounting Reference Points and
Cable Exit Port ...................................................................... 82
Left Hand RC Arm in Neutral Supination/Pronation Position .... 82
Orientation of Socket Adapter for Right Hand Arm or Left Hand
Arm Mounting ....................................................................... 83
RC Cable .............................................................................. 84
Inserting the RC Cable Connector Through the Cable Exit Port . 85
Positioning the RC Cable Within the Socket Adapter ................ 85
Aligning the Raised Lip of the Over-Mold ................................. 86
Inserting the Over-Mold Into Place........................................... 86
Properly Seated Over-Mold ..................................................... 87
Installing and Connecting the Cables to Radial Interface Box...... 88
Tightening the Cable Connections to the Radial Interface Box ... 88
Identifying the Long Reference Mounting Pin - RC Arm ............ 89
RC Arm Attached to Socket Adapter ....................................... 90
HC Socket Adapter................................................................ 91
FRONT Mounting Reference Point - HC Socket Adapter........... 92
Identifying the Mounting Pins - HC Arm .................................. 93
HC Arm Attached to Socket Adapter....................................... 94
Rev. 1.5 -- Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document
11
Contents
Figure 44.
Figure 45.
Figure 46.
Figure 47.
Figure 48.
Figure 49.
Figure 50.
Figure 51.
Figure 52.
Figure 53.
Figure 54.
Figure 55.
Figure 56.
Figure 57.
Figure 58.
Figure 59.
Figure 60.
Figure 61.
Figure 62.
Figure 63.
Figure 64.
Figure 65.
Figure 66.
Figure 67.
Figure 68.
Figure 69.
Figure 70.
Figure 71.
Figure 72.
Figure 73.
Figure 74.
Figure 75.
Figure 76.
Figure 77.
Figure 78.
Figure 79.
Figure 80.
Figure 81.
Figure 82.
Figure 83.
Figure 84.
Figure 85.
Figure 86.
Figure 87.
Figure 88.
Figure 89.
Figure 90.
Figure 91.
Figure 92.
12
Mounting the HC Cable.......................................................... 95
SC Bend Bracket ................................................................... 96
Attaching the Socket Adapter to the Bend Bracket.................... 97
Attaching the Form Shoulder to the Bend Bracket .................... 98
Aligning the Bend Bracket Perpendicular to Ground.................. 98
Aligning the Shoulder Flex Axis of Rotation.............................. 99
Shoulder Flexion Alignment Correction Indexing ...................... 99
Removing Excess Bend Bracket Legs ..................................... 100
Example Fitting Arm - Hand to Mouth Alignment ................... 101
Finished Laminated SC Socket Adapter ................................. 102
Sealing of the Shoulder Bellows............................................. 103
SC Arm Notch Orientation ................................................... 104
Attaching the SC Arm .......................................................... 105
SC Arm Attached to Socket .................................................. 105
Mounting the SC Cable ........................................................ 106
ACI Module - Power and Communications Line Connectors .... 110
ACI Module - User Input Connectors ..................................... 111
Example - Connecting the Pressure Transducer to the
ACI Module ......................................................................... 112
EMG - Proper Alignment of Ribbon Cable To Electrode .......... 112
Connecting the Tactor to the ACI Module .............................. 113
Tightening the Cable Connections to the ACI ......................... 114
Attaching the IMU to the Shoe Clip ....................................... 119
Attaching the IMU/Shoe Clip to the Client’s Shoe .................. 120
Connecting the External Battery to the Arm Cable .................. 125
Disconnecting the External Battery Extension Cable ................ 126
Internal Battery Charging Port and Status Icon ....................... 128
Testing the External Battery Charge Level.............................. 129
External Battery Charging Dock and Status LEDs ................... 131
Removing and Replacing the External Battery ........................ 133
Charging the IMU Battery..................................................... 135
Hand Open and Hand Closed ............................................... 144
Compound Wrist Motions ..................................................... 145
Rotating the Wrist ................................................................ 146
Power Grip.......................................................................... 147
Tool Grip ............................................................................ 148
Fine Pinch Closed Grip......................................................... 149
Fine Pinch Open Grip .......................................................... 149
Lateral Pinch Grip................................................................ 151
Chuck Grip.......................................................................... 152
Moving the Hand Up or Down .............................................. 154
Moving the Hand Left or Right.............................................. 154
Moving the Hand Forward or Backward ................................. 155
Voluntary Elbow Positioning (VEP) ........................................ 156
Elbow Flexion - Extension ..................................................... 156
Humeral Internal - External Rotation...................................... 157
Welcome to the ARM PI Setup Wizard................................... 160
Select Installation Folder Screen ............................................ 160
Installing Device Driver Software ........................................... 161
Your Device Is Ready To Use................................................ 161
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Contents
Figure 93.
Figure 94.
Figure 95.
Figure 96.
Figure 97.
Figure 98.
Figure 99.
Figure 100.
Figure 101.
Figure 102.
Figure 103.
Figure 104.
Figure 105.
Figure 106.
Figure 107.
Figure 108.
Figure 109.
Figure 110.
Figure 111.
Figure 112.
Figure 113.
Figure 114.
Figure 115.
Figure 116.
Figure 117.
Figure 118.
Figure 119.
Figure 120.
Figure 121.
Figure 122.
Figure 123.
Figure 124.
Figure 125.
Figure 126.
Figure 127.
Figure 128.
Figure 129.
Figure 130.
Figure 131.
Figure 132.
Figure 133.
Figure 134.
Figure 135.
Figure 136.
Figure 137.
Figure 138.
Figure 139.
Figure 140.
Device Driver Installation Status............................................. 162
Device Driver Software Not Successfully Installed .................... 162
Details - Device Driver Software Not Successfully Installed ....... 163
Update Driver Software ........................................................ 163
Browse for Folder ................................................................ 164
Update Driver Software - Unknown Device ............................ 164
Successful Driver Update ...................................................... 165
Prosthetist Interface Main/Welcome Screen ........................... 166
Arm PI Menus ..................................................................... 167
Power Save Mode ................................................................ 168
Real Time Clock .................................................................. 168
Print Summary Example ....................................................... 169
Print IMU Actions ................................................................ 170
Event Logs Example............................................................. 171
Usage Stats Example............................................................ 172
Configuration Steps and Configuration Screen ....................... 173
Save Configuration to File..................................................... 174
Power Cycle the Arm ........................................................... 174
Status ................................................................................. 176
Arm Illustration .................................................................... 176
Example - Tool Tip .............................................................. 177
Step 1: Discover and Select MAC.......................................... 178
Step 2 - Client Configuration ................................................ 180
Configuring the Shoulder’s Neutral Position............................ 183
Change to Current Configuration .......................................... 183
Save Config to File............................................................... 184
Saved Client Configuration Files ............................................ 185
Write Configuration to Arm .................................................. 185
Step 3: Configure ACI Modules............................................. 186
Configure Wired ACI Module ID............................................ 188
Successful Assignment of Wired ACI Device ........................... 188
Power Cycle the Arm ........................................................... 189
Step 4: Configure Inputs....................................................... 192
Activate/Zero IMUs.............................................................. 194
Step 5: Configure Arm Actions (SC Arm Shown).................... 196
Example Configure Action Screen - Toggle Grip Select ........... 200
Example - Tool Tip .............................................................. 202
Virtual Reality Environment and View Input Signals Buttons .... 204
Virtual Reality Environment................................................... 205
View Input Signals ............................................................... 208
Hand Open Button .............................................................. 213
Lateral Pinch Grip - Fully Open ............................................. 220
Removing and Replacing the Fingernails ................................ 221
Lace - Securing Hand Cover ................................................. 223
Removing and Replacing the Finger and Hand Covers ............ 224
Dimensions of Shoulder Configuration (In Centimeters) ........... 244
Dimensions of Humeral Configuration (In Centimeters)............ 244
Dimensions of Radial Configuration (In Centimeters) ............... 245
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Contents
14
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document
-- Rev. 1.5
Contents
List of Tables
Table 1.
Table 2.
Table 3.
Table 4.
Table 5.
Table 6.
Table 7.
Table 8.
Table 9.
Table 10.
Table 11.
Table 12.
Table 13.
Table 14.
Table 15.
Table 16.
Table 17.
Table 18.
Table 19.
Table 20.
Table 21.
Table 22.
Table 23.
Table 24.
Table 25.
Table 26.
Table 27.
Table 28.
Table 29.
Table 30.
Table 31.
Table 32.
Table 33.
Table 34.
Table 35.
Table 36.
Table 37.
Table 38.
Table 39.
Table 40.
Table 41.
Table 42.
Table 43.
Table 44.
Table 45.
Table 46.
Table 47.
Arm System Icons ................................................................. 20
Text Conventions.................................................................. 21
Terminology ......................................................................... 22
Acronyms............................................................................. 23
Arm Controls........................................................................ 47
Arm Configurations and Batteries........................................... 58
Arm Mode and Grip Select LEDs............................................ 63
Wrist Display Battery Charge Levels ....................................... 64
IMU LED Status.................................................................... 66
LUKE Arm System Installation and Setup Overview ................. 74
ACI Connection Types ........................................................ 109
Internal Battery Charging Port and Status Icon ...................... 128
External Battery Charge Level .............................................. 130
External Battery Charging Dock Status LEDs......................... 131
IMU Battery Charging Status LEDs....................................... 135
Control Types - Switching vs. Motion ................................... 139
Arm and Operating Modes................................................... 140
Hand Mode — Motions ....................................................... 143
Grip Select LEDs ................................................................ 146
Arm Mode — Motions......................................................... 153
Step 1: Discover and Select MAC - Fields and Buttons ........... 179
Step 2: Client Configuration - Fields and Buttons ................... 180
Arm Control Interface - Fields and Buttons ............................ 186
IMU Setup - Fields and Buttons ............................................ 193
Configurable Arm Actions.................................................... 197
Configure Actions Settings Glossary ..................................... 200
Virtual Reality Settings......................................................... 205
VRE Image Control Keys ..................................................... 207
Troubleshooting - Try This First............................................ 226
Troubleshooting - Wrist Display and System Faults ............ 227
Troubleshooting - Arm Function ...................................... 231
Troubleshooting - Power and Battery Charging ................. 232
Troubleshooting - Arm and PI Computer Communication .. 234
Arm System Specifications................................................... 241
Operating Environmental Range........................................... 242
Transport and Storage Environmental Range......................... 242
Service Life Specifications.................................................... 243
Mass of Arm Configurations................................................. 243
Dimensions of Arm Configurations ....................................... 243
Battery Charge and Operation Times.................................... 245
Power Specifications - Internal Battery .................................. 246
Power Specifications - External Battery ................................. 246
Power Specifications - IMU Battery....................................... 246
AC Adapter Specifications ................................................... 247
Charging Pad Specifications................................................. 248
Arm Radio Specifications..................................................... 249
LUKE Arm Manufacturers and Part Numbers ........................ 251
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15
Contents
Table
Table
Table
Table
Table
48.
49.
50.
51.
52.
Table 53.
Table 54.
Table 55.
Table 56.
Table 57.
16
Hand and Finger Cover Manufacturers and Part Numbers.......
General Accessories Manufacturers and Part Numbers............
User Inputs Manufacturers and Part Numbers ........................
Optional Accessories Manufacturers and Part Numbers ..........
External Cable Manufacturers, Part Numbers, and
Maximum Length................................................................
Socket Fabrication Components ...........................................
Guidance and Manufacturer’s Declaration Electromagnetic Emissions ...................................................
Guidance and Manufacturer’s Declaration Electromagnetic Immunity....................................................
Recommended Separation Distances (Part I) ..........................
Recommended Separation Distances (Part II) .........................
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252
253
254
254
255
256
257
258
261
262
-- Rev. 1.5
About This Guide
This guide provides setup and configuration information for the LUKE arm and
system components. This information includes step by step procedures on how to
install, set up, and configure the arm as well as the system components. Also
included is conceptual and operational information on the arm and system
components which you and your client need to understand prior to setting up the
arm and configuring the arm.
This guide is shipped with the LUKE arm system.
Intended Audience
This guide is intended for prosthetists who will be setting up and configuring the
arm to ensure safe and effective use of the arm. Read this guide carefully and be
sure to follow all directions. At the end of this guide, there is a checklist. See
Appendix A, “Prosthetist Checklist”. Prior to sending the client home with the
LUKE arm system, complete this checklist to ensure the client is able to operate the
arm appropriately.
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r17
About This Guide
How to Use This Guide
The following table summarizes the information in this guide.
Read
To Learn About...
Section I — Arm System Overview
Chapter 1, “Overview”
Overview — Provides introductory information about the client
needs as they relate to the LUKE arm and system components
used to fit, set up, and configure the arm.
Chapter 2, “Safety”
Safety — Provides all safety WARNINGS, CAUTIONS, and
notices you and your client must read prior to setting up and
configuring the arm and system components.
Chapter 3, “User Inputs/Outputs
and the Control Scheme”
Determining the Control Scheme — Provides information on
the types of user inputs which you will use to determine the arm’s
control scheme.
Chapter 4, “Battery Types and User
Controls”
Arm Configurations — Provides information on the battery
types used in specific arm configurations as well as information on
the display and buttons used to control the arm.
Section II — Mounting and Setting Up the Arm System
Chapter 5, “Arm System Installation
and Setup”
Setting Up the LUKE Arm — Provides high-level steps you
need to perform to install and set up the LUKE arm. These
high-level steps are cross-referenced to specific chapters where
detailed information is provided.
Chapter 6, “Fabricating the Socket
System and Mounting the Arm”
Fabricating the Socket and Harness — Provides information
about fabricating and building the socket as well as how to attach
the arm types to the socket.
Chapter 7, “Installing/Connecting
ACI Modules and User Inputs”
Installing and Connecting ACI Modules — Provides
information on installing and connecting ACI Modules.
Chapter 8, “Installing IMUs”
Installing and Connecting the User Inputs — Provides
information on connecting the user inputs to the ACI Modules.
Chapter 9, “Installing, Connecting,
and Charging the System Batteries”
Selecting the Battery — Provides information on selecting the
battery that will be used to power the arm.
Section III — Configuring the Arm
Chapter 10, “Key Concepts and
Operating Modes”
Understanding Arm Concepts — Provides conceptual and
operational information about the arm.
Chapter 11, “Configuring the Arm
Using the Prosthetist Interface”
Configuring the Arm Using Prosthetist Interface —
Provides information on using the Prosthetist User Interface
software to configure the arm.
18
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How to Use This Guide
Read
To Learn About...
Chapter 12, “Virtual Reality
Environment and Viewing Input
Signals”
Virtual Reality Environment and Viewing Input Signals —
Provides information on checking the arm configuration using the
Virtual Reality Environment.
Section IV — Using and Maintaining the Arm
Chapter 13, “Using the Arm”
Using the Arm — Provides information on how to use the arm
in a safe manner. Also provides information on what to do if the
arm is not working properly.
Chapter 14, “Maintaining and
Troubleshooting the Arm”
Maintaining and Troubleshooting the Arm — Provides
information on how to maintain the arm and perform basic
troubleshooting steps to diagnose problems with the LUKE arm
system.
Section V— Appendices
Appendix A, “Prosthetist Checklist”
Prosthetist Checklist — Provides a checklist of items to review
before allowing the client to use and take home the arm.
Appendix B, “Technical
Specifications.”
Technical Specifications — Provides technical specifications
for the arm and batteries.
Appendix C, “Manufacturers and
Part Numbers”
Manufacturers and Part Numbers — Provides a list of
manufacturers and part numbers for specific arm system parts.
Appendix D, “Guidance and
Manufacturer’s Declaration”
Guidance and Manufacturers Declaration — Provides
information on the electromagnetic environment and
recommended spacing between portable and mobile RF
communications equipment (transmitters) and the LUKE arm
system.
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19
About This Guide
Conventions
Table 1 describes the Arm System icons and Table 2 describes text conventions
used throughout this guide.
Table 1.
Arm System Icons
Icon
20
Meaning
Description
Alert
Alerts you and your client to
potential injury hazards. Obey all
safety messages that follow this
symbol to avoid possible injury.
Information Note
Notice is used to address practices
not related to personal injury.
CAUTION
Cautions indicate a hazardous
situation which, if not avoided, could
result in minor or moderate injury.
WARNING
Warnings indicate a hazardous
situation which, if not avoided, could
result in death or serious injury.
Read This Guide
Instructs you to refer to this guide
prior to using the LUKE arm system.
Electrically Isolated
Equipment
Indicates Type BF equipment which
is electrically isolated and can safely
contact a person’s skin without the
risk of electric shock.
Radio Transmitter
Indicates that equipment contains a
radio transmitter.
Disposal of
Equipment
Indicates that equipment should not
be disposed of in the trash.
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Conventions
Icon
Table 2.
Meaning
Description
Recycle Equipment
Indicates that equipment should be
recycled.
Use Indoors
Identifies electrical equipment
designed for indoor use and should
be kept dry.
Meets Class II
Safety
Requirements
Identifies equipment that meets the
safety requirements specified for
Class II equipment according to IEC
61140.
MR Unsafe
Indicates that equipment is not
compatible with magnetic resonance
(MRI) environment.
Text Conventions
Convention
Appearance in Text
Example
Key concepts and
emphasized text
Appear in bold type
Inertial Measurement
Unit
User input
Appears in bold courier
typeface
user input
Screen display
(Information that appears
on your monitor)
Appears in courier
typeface
screen display
Book titles, directories,
pathnames, and filenames
Appear in italic typeface
LUKE Arm Prosthetist
Reference Guide
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21
About This Guide
Terminology
The terminology used in this guide to describe the arm, socket, and accessories is
described in Table 3.
Table 3.
Terminology
Term
22
Description
Arm
Refers to the prosthetic arm only (no socket or accessories).
Prosthesis
Refers to the combination of the socket and the arm.
Arm System
Refers to the socket, arm, and all related accessories.
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Acronyms
Acronyms
See Table 4 for a list of acronyms used in this guide.
Table 4.
Acronyms
Acronym
Description
ACI
Arm Control Interface — Connects client input devices to the
arm.
EMG
Electromyograph — A surface EMG electrode is a sensor placed
on the skin that senses the activation signal of a muscle.
EMI
Electromagnetic Interference — Interference to the arm’s
electronics caused by external electrical sources.
HC
Humeral Configuration— A type of arm configuration.
IMU
Inertial Measurement Unit — A control input that is placed on
top of the client’s foot or lower appendage.
LED
Light Emitting Diode — A light that displays a status.
MAC
Master Arm Controller — The main processing unit of the LUKE
arm.
PI
Prosthetist Interface — The user interface software used to
configure a new arm or adjust the client’s current configuration.
RC
Radial Configuration — A type of arm configuration.
USB
Universal Serial Bus — A standard way for a computer to talk to
other devices.
VEP
Voluntary Elbow Positioning — A type of arm motion of the
LUKE arm.
SC
Shoulder Configuration — A type of arm configuration.
VRE
Virtual Reality Environment — Allows the client to practice using
the arm with the selected control scheme.
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23
About This Guide
Contacting Technical Support
To contact technical support use the following address, web site URL or telephone:
Mobius Bionics
470 Commercial Street
Manchester, NH 03101
www.mobiusbionics.com
603-239-3834
855-MOBIUS1 (855-662-4871)
24
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document --Rev. 1.5
Section I — Arm System Overview
This section provides an overview of the LUKE arm and system components. It
defines all safety guidelines that you and your client must follow while setting up and
configuring the arm. It provides information on user inputs and how you will use
these inputs to determine the client’s control scheme used to control the arm. It also
provides information on the correlation between the arm configurations and system
components which you need to understand prior to setting up and configuring the
arm.
Chapters in this section include:
•
Chapter 1, “Overview”
•
Chapter 2, “Safety”
•
Chapter 3, “User Inputs/Outputs and the Control Scheme”
•
Chapter 4, “Battery Types and User Controls”
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25
Section I — LUKE Arm Overview
26
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document -- Rev. 1.5
1
Overview
This chapter provides an overview defining the client needs as they relate to the
LUKE arm and system components in order to fit, set up, and configure the arm.
Topics in this chapter include:
•
The Client
•
LUKE Arm System
The Client
The first and foremost task in fitting, setting up, and configuring the arm is to meet
with the client and determine their needs as they relate to the LUKE arm. As each
client is different, you need to work with them to determine the appropriate arm
configuration and system components that best fit them. You need to determine
their physical and mental abilities as they relate to controlling and using the arm.
Once you have determined the arm configuration and system components, you
then need to examine the client and determine the type of socket and harness
needed to securely attach the arm to them.
Once you have determined the arm configuration and fabricated the socket and
harness, you need to determine the input control scheme for the client. Again, as
each client is different you need to work with them to determine the types of user
inputs they can use in the control scheme in order to control the arm.
Finally, you and/or a therapist should evaluate the strength and range of motion of
the client as related to their prosthetic arm treatment and, if indicated, prescribe a
home exercise program to address any limitations prior to the client engaging in
active use of the prosthesis. This program could include exercises to strengthen the
shoulder muscles including the rotator cuff, and the muscles of the upper arm if
indicated. It is suggested that the client advance their activities with the LUKE arm
on a gradual basis to minimize muscle soreness associated with using their new
prosthesis.
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27
Chapter 1: Overview
This initial meeting with the client to clearly define their physical and mental ability,
the arm configuration, socket type and harness, user inputs, and to evaluate their
strength and range of motion is a critical first step in the setup and configuration of
the arm.
Indications For Use
The LUKE arm system consists of a prosthetic arm and accessories which are used
by a certified prosthetist to create a full upper extremity prosthesis indicated for
individuals, age 18 years and older, who have partial or full upper limb amputations
or congenital defects. The device is used to assist in activities of daily living (ADLs).
Contraindications For Use
The LUKE arm system may only be fit by an accredited prosthetist experienced in
the setup and configuration of powered prostheses.
The following list of contraindications is included to provide guidelines for client
evaluation/consideration. With clients having one or more of the conditions listed
below, further evaluation/consideration may be required. The client’s healthcare
providers should provide the final decision as to whether the client is suitable to use
the prosthesis. Some clients may require more extended training or a longer period
of time to adapt to using the device.
Areas to consider in the evaluation of prosthesis suitability or which may require
special consideration during the fitting of an arm system for a specific client include:
28
•
Skin conditions of their residuum such as burns, poor skin coverage, and severe
contractures that prevent current or prior wearing of a prosthetic arm.
•
Significant peripheral neuropathy, uncontrolled diabetes, inadequate extremity
sensory perception, severe phantom pain or a history of skin ulcers.
•
Significant comorbidities which in the opinion of the clinician would interfere
with the client’s ability to control the prosthesis.
•
Severe circulatory problems including peripheral vascular disease and pitting
edema.
•
Clients undergoing chronic renal dialysis with co-morbidities associated with
skin changes and poor wound healing deficits.
•
Communication deficits, neurocognitive deficits, or mental health problems that
would limit their ability to properly learn and control the prosthesis.
•
Significant uncorrectable visual deficits that would impair the ability to see
prosthesis movement, its controls or its indicators.
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LUKE Arm System
Do not fit this system for a client unable to properly interpret your instructions or
the LUKE Arm User Guide. In addition, the anatomy of the individual’s residuum
may impact the suitability of the prosthesis, including excessive length – elbow
disarticulation, wrist disarticulation and partial hand amputations, or inadequate
residual limb length deficits may require further evaluation or special consideration.
LUKE Arm System
The LUKE arm is an upper-extremity prosthesis that accommodates Transradial
through interscapulothoracic (including Shoulder Disarticulation and short
Transhumeral) amputees. The arm provides a wide range of degrees of freedom and
several control options for controlling arm movement.
The LUKE arm is available in several different configurations and the system
components used to support the arm are dependent on the arm’s configuration.
One LUKE arm system may be used at a time by an individual.
For each arm that is to be fit on a client Mobius Bionics offers all the materials,
aside from 3rd party supplied input sensors, to configure the arm system. Materials
that are typically used to fabricate sockets and fit conventional prosthetics are not
supplied by Mobius Bionics.
Depending on the client’s arm configuration you will need to order certain
components from Mobius Bionics. Prior to setting up and configuring the arm you
should review and understand the components available from Mobius Bionics.
RISK OF DEATH OR SERIOUS HARM
Do not disassemble or modify any of the provided modules. Do not connect
any type of sensor not described in this guide without authorization of the
manufacturer. Please connect and configure the LUKE arm system per
instructions. Failure to do so could lead to injury.
The LUKE arm configurations and system components are described in the
following sections.
•
Arm Configurations
•
Batteries
•
External Battery Holster
•
Battery Chargers and Charging Dock
•
ACI (Arm Control Interface) Modules
•
Input/Output Control Devices
•
The Fitting Arm
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29
Chapter 1: Overview
Arm Configurations
The arm is available in the three configurations listed below and shown in Figure 1.
Once you have determined which arm configuration best fits your client’s needs,
you need to specify if the arm is for the right or left side and the proper length as
well as which battery type will power the arm. For more information on arm
configurations and battery type used to power the arm see System Battery Types.
Shoulder Configuration (SC)
This arm is configured for those amputees with little or no residual limb or for those
amputees with limited movement or other restricting factors in their residual limb. In
most instances this arm configuration is powered by an internal battery located
inside the forearm of the arm and with an external battery used to supplement
power.
Humeral Configuration (HC)
This arm is configured for those amputees with a residual limb below the shoulder
but not including the elbow. In most instances this arm configuration is powered by
an internal battery located inside the forearm of the arm and with an external
battery used to supplement power.
Radial Configuration (RC)
The radial configuration is the shortest of the three configurations and is for
amputees with a residual limb below the elbow. Radial arm configurations are
powered by the external battery.
30
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document -- Rev. 1.5
LUKE Arm System
Figure 1. Arm Configurations
Shoulder Configuration (SC)
Humeral Configuration (HC)
Radial Configuration (RC)
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31
3
User Inputs/Outputs and the Control
Scheme
Prior to setting up and configuring the arm you need to determine which types of
user inputs the client can and will use to control the arm. To determine this control
scheme, you and the client need to decide which types of inputs the client can
physically operate in order to manage arm controls. This section provides
information on the arm controls as well as the types of user inputs used to control
the arm.
Topics in this chapter include:
•
Arm Controls — Switching vs. Motion
•
User Inputs
•
User Output - Tactor
Arm Controls — Switching vs. Motion
User inputs are used to select the two arm controls, switching and motion. You
need to identify and configure a specific user input to control switching of arm
operating modes while configuring the remaining user inputs to control hand and
arm motion.
Table 5 lists the arm controls and provides a description of the control.
Table 5.
Arm Controls
Arm Controls
Description
Switching
A user input used to change or toggle through the
operating modes: Standby mode, Hand mode, and
Arm mode (if available).
Motion
A user input used to vary the speed and position of a
joint or series of joints within the hand and arm.
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47
Chapter 3: User Inputs/Outputs and the Control Scheme
User Inputs
Listed below are the user inputs used to control the arm. Following the list is a
description of each of the inputs, a description of how they are used, and any
restrictions when using the inputs.
•
IMUs (Inertial Measurement Units)
•
EMG - Electromyography (Surface EMG Electrodes)
•
Pressure Switches
•
Rocker Switches
•
Pressure Transducers
•
Linear Transducers
IMUs (Inertial Measurement Units)
Description
IMUs command motion by having the client tilt their foot to control the configured
arm motions. See Figure 10.
The IMUs have an IP57 rating. The IP rating specifies the strength of an
enclosure against solids (such as dust) and liquids. An IP57 rating provides
resistance to water at depths up to 1 m (39 inches) and resistance to fine dust.
Figure 10. Inertial Measurement Unit
Inertial
Measurement
Unit
48
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User Inputs
Places Used
Inertial Measurement Units (IMUs) are installed on top of client’s shoes using a shoe
clip or custom fabricated strap or pocket. For detailed information on installing and
setting up the IMUs see Chapter 8, “Installing IMUs”.
Arm Controls
IMUs are used to control arm motion and certain switching functions other than
mode select. See Restrictions below.
How They Are Used
If you intend to use IMUs, the first task you need to perform is to examine the
client’s feet and decide if they can be used for viable control inputs. The client has to
have the physical mobility to move their feet with enough dexterity to operate the
IMU.
The IMU designated for motion controls uses all four directions: anterior (toe),
posterior (heel), medial (inside), and lateral (outside). You and the client determine
which of these four motions are used to perform a specific arm motion. You
configure this using the Prosthetist Interface (PI). When configuring the IMUs using
the Prosthetist Interface you can adjust the output gains to vary the speed of the
arm’s motion.
The Prosthetist Interface allows you to configure up to two (2) sets of IMUs. The
client is able to switch between sets. This is useful when an IMU battery runs low;
the client can switch to the second set of IMUs while charging the first set. For
instructions on switching between IMUs, see Swapping IMUs.
The arm supports up to four IMU/ACI modules at a time in multiple
combinations, with a maximum of 2 IMUs. For example, you may set up and
configure the arm to support two IMU modules and two wired ACI modules or
four wired ACI modules and no IMUs.
Up to two pairs of IMUs can be assigned to an arm system, however only one
pair may be used at a time. See Swapping IMUs for more information about
switching between pairs of IMUs.
Restrictions
The IMUs CANNOT be used to control Switching (Mode Select) of the
arm. The system will not allow Mode Select to be assigned to an IMU input. This is
to eliminate the risk that the client can activate or deactivate the arm inadvertently
through the simple act of walking.
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8
Installing IMUs
Once the ACI Modules have been installed and connected you can then install the
IMUs. The IMUs can be installed on a client's shoe or lower appendage using either
the shoe clips or an alternate means such as custom straps or pockets in the shoe.
There are two steps to install the IMUs on a shoe: attaching the shoe clip to the
client’s shoe and attaching the IMU to the shoe clip. If your client needs help putting
on and taking off the IMUs/shoe clips have the person who is providing the help
available at this time. IMUs can be installed on a lower appendage by alternate
means, as long as they are securely attached. If you create a label to indicate which
IMU your client uses on the left or right side or to designate IMU sets, avoid
covering the LED on the IMU.
The IMUs will not provide data if tipped more than 83 degrees. Be sure to
position the IMU as close to level as possible when installing the IMU. If you
mount the IMU at an angle of more than 38 degrees to begin, the IMU will not
provide the full range of +/- 45 degrees after zeroing because they are out of
range when they reach the 83 degree limit. See IMU - Angle Limit Detect.
Note that IMUs connect to the arm through a wireless connection. This wireless
connection is configured through software using the Prosthetists Interface. See
Chapter 11, “Configuring the Arm Using the Prosthetist Interface”.
Topics in this chapter include:
•
Installing the IMU in the Shoe Clip
•
Installing the IMU/Shoe Clip on the Client’s Shoe
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Chapter 8: Installing IMUs
Installing the IMU in the Shoe Clip
To install the IMU in the shoe clip, see Figure 65 and perform the following steps:
1. Slide the tabbed end of the IMU into the open end of the shoe clip.
2. Press down on the IMU until the shoe clip retention tab snaps into the IMU slot.
Ensure the IMU is fastened securely to the shoe clip.
118
•
The shoe clip can be put on the shoe either before or after the IMU is
installed in the shoe clip.
•
You can attach the IMU by alternate means (straps/pocket/etc.) as long
as it is securely attached.
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Installing the IMU in the Shoe Clip
Figure 65. Attaching the IMU to the Shoe Clip
IMU Tab
Open End
of Shoe Clip
Front Arrow Label
Part 1
Press Down On IMU
IMU Tab
Part 2
Front
Open End
of Shoe Clip
Part 3
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Chapter 8: Installing IMUs
Installing the IMU/Shoe Clip on the Client’s Shoe
To install the shoe clip on client’s shoe, see Figure 66 and perform the following
steps:
•
Note that the shoe clip can be installed onto the shoe with the shoe on or
off the client’s foot.
•
Once the shoe clip is installed, the shoe clip can remain on the shoe.
•
If the IMU is in the clip, make sure to attach the clip and IMU to the
correct foot per the client's configuration.
1. Orient the shoe clip so that the open end of the clip is facing towards the client’s
toes.
2. Slide the shoe clip under the laces of the shoe.
When installing the shoe clip to the shoe, please ensure the following:
•
The shoe clip passes through at least two of the shoe’s laces to ensure the
clip is secure and stable.
•
The Front Arrow label on the bottom of the IMU is facing towards the
client’s toes. See Figure 65.
3. Tighten the laces to secure the IMU and shoe clip to the shoe.
4. If the client has not already done so, have them put on the shoe.
Figure 66. Attaching the IMU/Shoe Clip to the Client’s Shoe
Open End of Shoe Clip
NOTE: IMU is Shown Attached
to Shoe Clip.
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Waking a Sleeping IMU
The wireless IMUs do not contain an ON/OFF button. An IMU that is awake
and set up to communicate with an arm will do so once the arm is powered
ON. See Waking a Sleeping IMU and Initializing the Arm.
Waking a Sleeping IMU
When an IMU has not communicated with the arm for more than 30 minutes, the
IMU reverts to a sleep mode to conserve the battery. When in sleep mode the IMU
is not listening for arm communication.
As a result, if the IMU is in sleep mode when the arm is turned on, it will not
connect with the arm. This results in a sweeping pattern on the Grip Select LEDs
while the arm tries to connect with the IMUs. If the arm doesn’t connect with the
IMUs after about 10 seconds, an “IMU Comm Lost” fault will occur. Having the
client shake their foot with the IMU attached wakes the IMU from sleep mode so
that the IMU is ready to communicate with the arm once the arm system is powered
on. See Swapping IMUs for details on switching between sets of IMUs or
Troubleshooting the Arm for troubleshooting information.
An IMU that has been shaken awake is waiting to communicate with the arm. IMUs
that are not actively communicating with an arm blink the battery state of charge
LED whenever they are shaken, regardless of whether they are sleeping or not.
After shaking the IMU awake if it does not communicate with the arm within
five (5) minutes the IMU reverts back to sleep mode to conserve the battery
charge.
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Chapter 8: Installing IMUs
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11
Configuring the Arm Using the Prosthetist
Interface
The Prosthetist Interface (PI) is a graphical user interface used to configure the
LUKE arm. This user interface allows you to collect and display real-time data from
the arm and stores this data as specific arm configurations. The Prosthetist Interface
obtains this information by communicating with the arm’s MAC (Master Arm
Controller) via a wireless connection.
Installing the Prosthetist Interface
The Prosthetist Interface (PI) software is provided on several types of media. The
first time you want to use the Prosthetist Interface on your computer, you need to
install the PI software and FTDI (Windows) drivers onto the computer.
If the Prosthetist Interface has already been installed on this PC, you must
uninstall the program prior to reinstallation.
Click Start ->Programs and Features ->Select “Arm PI” ->Choose uninstall
Installing the Prosthetist Interface Software
To install the PI software perform the following steps:
The system requirements for the computer are as follows:
•
Windows® 7
•
USB 2.0 Capability
1. Insert the PI media onto your computer.
2. Open the drive where the Arm PI Install resides.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
3. Double-click the Arm PI setup file.
The Welcome to the Arm PI Setup Wizard window opens. See Figure 89.
Figure 89. Welcome to the ARM PI Setup Wizard
4. Click Next.
The Select Installation Folder screen appears. See Figure 90.
Figure 90. Select Installation Folder Screen
5. You can choose to install the Arm PI in the default directory or browse to a
directory of your choice.
6. Click Next twice.
The Arm PI is installed.
7. Once the Arm PI installation is complete, click the Close button.
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Installing the Prosthetist Interface
8. Next, install the FTDI (Windows) drivers. See Installing the FTDI (Windows)
Drivers.
Installing the FTDI (Windows) Drivers
The following sections provide information on how to install the FTDI (Windows)
drivers depending if the computer is connected to or not connected to the internet.
If Connected to the Internet
When inserting the Mobius Bionics supplied PC dongle into the computer for the
first time, the driver software automatically starts installing. To install the driver
software, when connected to the internet, perform the following steps:
1. Insert the PC dongle into a USB port on your computer.
Two pop-ups will appear in the following order on the bottom right of the
desktop:
a. Installing device driver software. See Figure 91.
Figure 91. Installing Device Driver Software
b. Your device is ready to use. See Figure 92.
Figure 92. Your Device Is Ready To Use
For details on the status of the installation, click on either of the pop-ups
(shown in Figures 90 and 91) to make the Driver Software Installation window
appear. See Figure 93.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Figure 93. Device Driver Installation Status
2. Once the device software installation is complete, restart your computer if
instructed to do so.
The Prosthetist Interface and drivers are now installed on your computer and an
Arm PI Icon is displayed on the desktop. You can now begin to use the Prosthetist
Interface. See Opening the Prosthetist Interface.
If NOT Connected to the Internet
If the computer is not connected to the internet, you need to manually link the FTDI
(Windows) drivers (Serial Converter and Serial Port) that were installed during the
installation of the PI. To link to the drivers, perform the following steps:
1. Insert the Mobius Bionics supplied PC dongle into a USB port on the computer.
A pop-up appears notifying you that the Device driver software was not
successfully installed. See Figure 94.
Figure 94. Device Driver Software Not Successfully Installed
For details on the status of the installation, click on the pop-up (shown in
Figure 93) to make the Driver Software Installation window appear. See
Figure 95.
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Installing the Prosthetist Interface
Figure 95. Details - Device Driver Software Not Successfully Installed
2. Click Start ->Device Manager.
3. Under Other Devices, right click on the Unknown Device icon and choose
Update Driver Software.
The Update Driver Software window appears. See Figure 96.
Figure 96. Update Driver Software
4. Click Browse my computer for driver software.
The Browse For Folder window appears. See Figure 97.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Figure 97. Browse for Folder
5. Navigate to C:\Program Files(x86)\Mobius Bionics\Arm PI.
6. Select FTDI driver and click OK.
The Update Driver Software - Unknown Device window appears. See
Figure 98.
Figure 98. Update Driver Software - Unknown Device
7. Verify that Include subfolders is checked.
8. Click Next.
A message appears stating Windows has successfully updated your driver
software. See Figure 99.
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Installing the Prosthetist Interface
For the driver software update to take effect you need to restart your
computer.
Figure 99. Successful Driver Update
9. Click Close.
10.Repeat Steps 2 through 9 if:
Depending on the Microsoft updater configuration of the PC, the device may
first install the “USB Serial Converter” and read as “USB Serial Port” under
“Other Devices”.
Repeat Steps 2 through 9 so the “USB Serial Port” appears as “USB Serial
Port (COM#)” under “PORTS” in the device manager.
The Prosthetist Interface and drivers are now installed on your computer and an
Arm PI icon is displayed on the desktop. You can now begin to use the Prosthetist
Interface. See Opening the Prosthetist Interface.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Opening the Prosthetist Interface
1. Insert the PC Dongle into a USB port of your computer (if there isn't one already
there).
2. Double click the Arm PI icon.
The PI Welcome screen appears. See Figure 100.
Figure 100. Prosthetist Interface Main/Welcome Screen
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Navigating The Prosthetist Interface
Navigating The Prosthetist Interface
The Prosthetist Interface (PI) contains PI menus, several buttons, and a
configuration screen used to configure the arm. These items are described in the
following sections.
Arm PI Menus
The PI menu has three drop down selections which allow you to change settings,
view and print the configuration summary as well as events and statistics, and view
the version of the PI.
Figure 101. Arm PI Menus
Settings Menu
The Settings drop down menu contains three selections:
•
Change Settings
•
Power Save Mode
•
Real Time Clock
Change Settings
Change Settings allows you to manually change the Command Port and Data Port
settings, if necessary. Note that the Command Port and Data Port are automatically
detected during installation of the PI.
Power Save Mode
Power Save Mode configures the arm to engage the brakes when the arm stops
moving. Engaging the brakes saves battery power by not running the motors. Power
Save Mode is not used for RC arms. The Power Save Mode value is not cleared or
saved with the PI arm configuration.
You can set the delay, in seconds, between when the arm stops moving and when
the brakes engage. With a delay of zero (0) seconds, Power Save Mode is turned
OFF. When Power Save Mode is OFF, the brakes are disengaged and the motors
are on whenever the arm is on.
To set the Power Save Mode perform the following steps:
1. From the Settings menu select Power Save Mode.
The Power Save Mode screen opens. See Figure 102.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Figure 102. Power Save Mode
2. Enter the new delay value (in seconds), and click Update Arm with New
Delay.
3. Click Done.
Real Time Clock
Selecting the Real Time Clock function sends the computer’s clock settings to the
arm system. This sets the arm's clock. The arm's clock is set at the factory. The
arm’s clock is used to put a time stamp on the event log.
The factory sets the arm's clock to Eastern time, and the clock does not
automatically adjust for daylight savings time.
To get or set the Real Time Clock perform the following steps:
1. From the Settings menu select Real Time Clock.
The Real Time Clock screen opens. See Figure 103.
Figure 103. Real Time Clock
2. To get the arm’s current clock setting, click Get Real Time Clock.
3. To send the computer’s clock settings to the arm, click Set Real Time Clock.
4. Click OK.
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Navigating The Prosthetist Interface
Configuration Menu
The Configuration drop down menu contains four selections.
•
Print Summary
•
Print IMU Actions
•
View Events
•
View Usage Stats
Print Summary
Print Summary allows you to view and print a summary of the arm configuration.
To view or print the arm configuration summary perform the following steps:
1. From the Configuration menu select Print Summary.
The Print Summary screen opens. See Figure 104.
Figure 104. Print Summary Example
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
2. To print the summary configuration click Print.
The Print dialog box opens.
3. Select the appropriate printer from the drop down list.
4. Click OK.
Print IMU Actions
After configuring the IMUs to perform certain arm actions, use the Print IMU
Actions function to print out a single sheet reference card for the client. The card
will show both IMUs and which actions they perform. The arrow points to the
direction in which the client tilts their foot.
To view or print the IMU configuration perform the following steps:
1. From the Configuration menu select Print IMU Actions.
The Print IMU Actions screen opens. See Figure 105.
Figure 105. Print IMU Actions
2. To print the IMU Actions click Print.
The Print dialog box opens.
3. Select the appropriate printer from the drop down list.
4. Click OK.
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Navigating The Prosthetist Interface
View Events
View Events allows you to view a list of events that have occurred within the arm.
Events include faults that have occurred and can be used for troubleshooting. See
LUKE Arm System Alerts for more information.
To view events perform the following steps:
1. From the Configuration menu select View Events.
The Event Logs screen opens. See Figure 106.
Figure 106. Event Logs Example
2. View events as needed to aid in troubleshooting.
3. To save the Event Logs to a file click Save Events.
4. When done viewing the Event Logs click Done.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
View Usage Stats
View Usage Stats allows you to view a list of arm usage statistics. To view statistics
perform the following steps:
1. From the Configuration menu select View Usage Stats.
The Usage Statistics screen opens. See Figure 107.
Figure 107. Usage Stats Example
2. View the usage statistics as needed.
3. To save the Usage Stats to a file click Save Stats.
4. When done viewing the statistics click Done.
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Navigating The Prosthetist Interface
Help Menu
The Help drop down menu contains one selection: About. Selecting About opens
the About PI dialog box which provides the PI version and copyright information.
Configuration Steps and Dynamic Configuration Screen
The PI contains five configuration steps located to the left of the Dynamic
Configuration screen. Clicking on any of the steps opens the configuration screen
for that step. If you are performing the initial configuration of the arm these five
steps should be performed in sequential order. If you are changing an existing
configuration you can click on the specific step you need to change.
Figure 108. Configuration Steps and Configuration Screen
Configuration
Steps 1 - 5
Update Arm
When you use the PI to make changes to a client configuration, at first these
changes are only made on the computer. Clicking on the Update Arm button
sends the client configuration information from PI to the arm. As you make changes
to a client configuration in the PI, the Update Arm button pulses blue to notify you
that the configuration needs to be sent to the arm. When updating the arm, you
have the option to save the configuration to a file.
To update the arm with the client configuration from PI and save the configuration
to a file, perform the following steps:
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
1. Click the Update Arm button.
The Save Configuration to File dialog box opens. See Figure 109.
Figure 109. Save Configuration to File
2. To update the arm and save the configuration changes to a file click Yes. If you
click No to save the current configuration to file, the configuration file will still
be sent to the arm.
IMPORTANT: Changes made to configuration settings in PI are not sent to
the arm until you click the Update Arm button.
3. If prompted, power cycle the arm. See Figure 110.
Figure 110. Power Cycle the Arm
Power cycling is only needed after changes are made to the ACI module
configuration. See STEP 3: Configure ACI Modules.
Save Configuration to File
Clicking the Save Configuration to File button at any time saves the client
configuration to a file. Saving the configuration to a file does not update the arm.
For information on sending a client configuration from the PI to the arm, see
Update Arm.
To save the client configuration to a file on the computer, perform the following
steps:
1. Click the Save Configuration to File button.
The Save As dialog box opens.
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Navigating The Prosthetist Interface
2. Navigate to the directory where you want to save the file.
When you save the configuration to a file, a default file name appears in the
File name box. This suggested file name is based on the Client ID and the current date and time. You can use this default file name or change it to one of
your choosing.
3. Accept the default file name or enter your own file name.
4. Click Save to save the file.
Virtual Reality Environment
Clicking on the Virtual Reality Environment button opens the Virtual Reality
Environment screen. For information on using the Virtual Reality Environment see
Chapter 12, “Virtual Reality Environment and Viewing Input Signals”.
View Input Signals
Clicking on the View Input Signals button opens the Preview Live Dialog screen.
For information on viewing input signals see Chapter 12, “Virtual Reality
Environment and Viewing Input Signals”.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Status
The configuration status is displayed in the Status box to the right of the
Configuration pane. See Figure 111. As you configure the arm the status
information changes. The following status information is displayed:
•
Client ID — The current client’s identification.
•
MAC — The wireless address of the arm currently connected to the PI.
•
Current Arm Configuration — The current selected arm configuration.
•
Joint Control — The type of control being used to control motion.
Figure 111. Status
Arm Illustration
The arm illustration to the right of the configuration pane changes depending on
the arm assembly selected in the Client Configuration screen. See Figure 112. Note
that a right handed arm is always shown regardless of the handedness of the arm
system. The possible illustrations are:
•
Shoulder Configuration
•
Humeral Configuration
•
Radial Configuration
Figure 112. Arm Illustration
Shoulder Configuration Shown
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Using the Prosthetist Interface
Tool Tips
As you scroll over specific areas within the configuration screens tool tips will pop
up. These tips provide helpful information on configuring the arm. See Figure 113
for a tool tip example.
Figure 113. Example - Tool Tip
Tool Tip
Using the Prosthetist Interface
The Prosthetist Interface (PI) graphical user interface provides step by step
procedures for configuring the arm. Initially, you need to sequentially perform all
five steps to configure the arm. After the initial configuration you can access any of
the steps in order to change the arm’s configuration. Once you have configured the
arm you and the client can then test the arm’s configuration using the Virtual
Reality Environment prior to actually moving the arm. Then you can move on to
controlling the arm directly.
The five configuration steps are described in the following sections.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
STEP 1: Discover and Select Master Arm Controller
(MAC)
The first step in configuring the arm is to discover and select the MAC. The MAC is
the main computer in an arm system. It has the wireless radio that communicates to
the PI through the PC dongle. Step 1: Discover and Select MAC in the
configuration process opens the Discover and Select Master Arm Controller (MAC)
screen. This screen allows you to discover all Master Arm Controllers in the area
and select the MAC for your client’s arm. The arm must be ON for the MAC to be
discovered by the PI. See Figure 114.
•
Ensure the PC dongle is inserted into a USB port on your computer
before opening the Prosthetist Interface
•
Ensure the arm is ON before discovering and selecting the Master Arm
Controller
To open the Discover and Select Master Arm Controller (MAC) screen, click the
Step 1: Discover and Select MAC button from the PI main screen. See
Figure 114 and Table 21 for more information.
Figure 114. Step 1: Discover and Select MAC
Step 1
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STEP 2: Client Configuration
Table 21.
Step 1: Discover and Select MAC - Fields and Buttons
Field/Button
Description
MACs Discovered
A list of Master Arm Controllers discovered when
you click the Refresh Discovered MAC List
button.
Current MAC box
The MAC currently selected. This selection is
saved and appears the next time the PI is opened.
Clear Current MAC
Disconnects the MAC from the system.
Refresh Discovered MAC List
Discovers all MACs within the area.
Discovering and Selecting the MAC
To discover and select the MAC for your client’s arm, perform the following steps:
1. Click Refresh Discovered MAC List to discover the MACs within the area.
The MACs Discovered box is populated with the discovered MACs.
2. Locate the serial number label on the wrist and read the arm’s MAC address.
3. If a MAC icon already exists in the Current MAC box from a previous
connection, click clear current MAC to clear the box.
4. To select and establish a connection with the MAC for your client's arm, either
double click on the MAC icon or drag and drop the MAC icon into the Current
MAC box.
STEP 2: Client Configuration
The next step in configuring the arm is to create and save a new client configuration
file or load a previously saved client configuration file. You will also need to select
the arm assembly to be used by the client. Step 2 also allows you to read a client’s
configuration file directly from the arm or clear the current loaded configuration.
The Client Configuration screen allows you to configure the following
parameters:
Initial Configuration
When completing an initial configuration set the following parameters:
•
Create a New Configuration
•
Select the Arm Assembly
•
Zero the Shoulder (if fitting an SC arm)
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Existing Configurations
When working with existing configurations the following parameters are available:
•
Clear the Arm Configuration
•
Read the Current Configuration from the Arm
•
Load a Configuration from File
To open the Client Configuration screen, click the Step 2: Client Configuration
button from the PI main screen. See Figure 115 and Table 22 for more
information.
Figure 115. Step 2 - Client Configuration
Step 2
Table 22.
Step 2: Client Configuration - Fields and Buttons
Field/Button
Create New Configuration:
Description
• Client ID: The personal identification of the
client. The client ID can be up to 32 characters
long.
• Notes: Allows you to attach any related notes to
the client’s configuration file.
180
Select Arm Assembly:
A drop down list that allows you to select the client’s
arm configuration.
Zero Shoulder
Configures the shoulder’s neutral position.
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STEP 2: Client Configuration
Table 22.
Step 2: Client Configuration - Fields and Buttons
Field/Button
Description
Clear the Current
Configuration:
Clears the configuration from the PI environment.
NOTE: Clearing the configuration from the PI
environment does not clear the configuration from the
arm.
Read the Configuration
from the Arm:
Click the Read Configuration button to read the
current configuration loaded on the arm.
Load a Configuration from
File:
Click the Load Configuration button to load a
previously saved client configuration file.
NOTE: Loading a configuration into the PI
environment with this command does not load the
configuration onto the arm.
Create a New Configuration
To create a new configuration perform the following steps:
1. In the Client ID field, enter in the client’s identification.
The Client ID can contain up to 32 characters. The following characters can’t
be used:
/ \: *? “< > |
It is recommended that the Client ID field not contain any personal
information (e.g., name, initials). When entering any information into a
configuration file, refer to the HIPAA (Health Insurance Portability and
Accountability Act) guidelines about confidentiality. See
http://www.hhs.gov/ocr/privacy.
2. In the Notes field, enter any information you would like to relate to the client’s
configuration file.
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Select the Arm Assembly
From the Select Arm Assembly drop down list, select the correct arm
configuration for the client.
The possible values are:
•
Shoulder Configuration
•
Humeral Configuration
•
Radial Configuration
When you select an arm assembly, a picture of the arm’s configuration is displayed
in the arm illustration box on the PI main screen each time the client file is opened.
Zero the Shoulder (if fitting an SC arm)
After initially mounting the SC arm to the socket, see Mounting the SC Arm, you
must configure the shoulder to the neutral position.
To zero the shoulder or configure the arm’s neutral position, perform the following
steps:
1. Have the client don the Arm System and stand up straight.
2. Click the Zero Shoulder button.
The Configure the Shoulder’s Neutral Position screen opens. See Figure 116.
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STEP 2: Client Configuration
Figure 116. Configuring the Shoulder’s Neutral Position
3. Follow the step by step instructions in this screen to zero the shoulder.
4. If completing an initial configuration, you can continue to STEP 3: Configure
ACI Modules.
Clear the Arm Configuration
To clear the arm configuration perform the following steps:
1. Click the Clear Configuration button.
The OK to lose changes to current configuration screen opens. See Figure 117.
Figure 117. Change to Current Configuration
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
2. Click OK to lose changes to current configuration.
Note that at this point, the configuration is cleared from the computer only
and is not cleared from the arm. Update Arm must be performed to send the
cleared configuration to the arm. Once the configuration is cleared from the
arm, the arm will not operate until a new configuration is loaded.
3. Click Update Arm to load a cleared, blank configuration to the arm.
The Save Configuration to File screen opens. See Figure 118.
Figure 118. Save Config to File
4. Click Yes if you would like to save a copy of the cleared, blank configuration for
future reference.
5. Click No to continue to update the arm without saving a copy of the
configuration.
6. Power cycle the arm. See Re-Initializing the Arm.
Read the Current Configuration from the Arm
To read the current arm configuration perform the following steps:
1. Click the Read Configuration button.
The current arm configuration is read to the system.
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STEP 3: Configure ACI Modules
Load a Configuration from File
To load a saved client arm configuration perform the following steps:
1. Click the Load Configuration button.
The directory of the saved configuration files opens. See Figure 119.
Figure 119. Saved Client Configuration Files
2. Double click the client configuration file you want to load.
The Write Configuration to Arm dialog box opens asking if you want to
update the arm with the current configuration. See Figure 120.
Figure 120. Write Configuration to Arm
3. Click Yes to update the arm with the selected configuration.
STEP 3: Configure ACI Modules
Step 3 in the configuration process is to configure the ACI Modules. In the Main PI
screen click Step 3: Configure ACI Modules to open the Configure Arm
Control Interface (ACI) Modules. You can configure up to four ACI Modules per
arm.
To configure the ACI Modules perform the following steps:
1. In the PI main screen click the Step 3: Configure ACI Modules button.
The Configure Arm Controller Interface (ACI) Modules configuration
screen opens. See Figure 121 and Table 23 for more information.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Figure 121. Step 3: Configure ACI Modules
Step 3
Table 23.
Arm Control Interface - Fields and Buttons
Fields/Buttons
Description
Read Current Settings from
Arm
Reads the current ACI configuration from the arm.
Apply Changes to Arm
Applies configuration changes to the arm.
Comm Mode (Module 1 - 4)
The Communications Mode used by the ACI Module.
The possible values are:
• No Module
• Wireless IMU
• Wired
Input Type (Wireless IMU)
The types of wireless inputs used to control the arm.
The possible values are:
• None
• Right IMU
• Left IMU
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STEP 3: Configure ACI Modules
Table 23.
Arm Control Interface - Fields and Buttons
Fields/Buttons
Input Type (Wired)
Description
This field is used to identify which inputs on an ACI
are EMG sensors.
The possible values are:
• None
• CH 1
• CH 2
• CH 3
• CH 4
Refresh Discovered Device
List
Updates the list of discovered devices.
Discovered Devices
Displays list of discovered devices.
Wired ACIs
2. If configuring a wired ACI Module, select Wired from the Comm Mode drop
down menu. The Module number (1-4) will be the Module ID assigned to the
wired ACI device.
3. Identify any EMG Channels from the Input Type drop down list.
Configuring wired ACI modules unlocks EMG specific configuration options.
Wireless IMUs
4. If configuring a wireless IMU, select Wireless IMU from the Comm Mode
drop down menu and right or left IMU from the Input Type drop down menu.
5. Click the Refresh Discovered Device List button to search for wireless
IMUs.
6. Drag and drop the selected device from the Discovered Devices list into the
appropriate “Set #1” or “Set #2” Wireless Device box.
If configuring the system to have two sets of IMUs, be sure to clearly label each
set of IMUs for the client.
Configuring a New ACI for the First Time
To configure a new ACI perform the following steps:
Assigning an ACI Module ID is only required if more than one ACI Module is
being used. Note that all ACI Modules are shipped with a default ID of 1. In
almost every case, the ACI should be assigned to Module 1 in Step 3.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
1. Click the Configure Module ID button.
The Configure Wired ACI Module ID configuration screen opens. See
Figure 122.
Figure 122. Configure Wired ACI Module ID
2. To assign the Module ID to the wired ACI device, first remove the label on the
ACI covering the USB port, then connect the wired ACI device to your
computer using a USB cable.
3. Click Connect to automatically detect and specify the COM port associated
with the connected ACI.
4. Click the Assign ID button.
The Configure Wired ACI Module screen will state you have successfully
assigned the wired ACI device an ID. This ID will automatically match the
Module number you have already assigned the ACI in Step 3. See Figure 123.
Figure 123. Successful Assignment of Wired ACI Device
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STEP 3: Configure ACI Modules
5. Click Done.
Once you have completed configuring the ACI module ID you need to ensure
the USB port on the ACI is covered. Locate the label that covers the port in
the materials kit and apply the label over the port. Covering the port is
required to maintain the IP52 rating for the arm system.
Saving the ACI Configuration
To save the ACI configuration perform the following steps:
1. After completing ACI assignments click the Apply Changes to Arm button
which will be illuminated in blue.
You will be prompted to power cycle the hardware. See Figure 124.
Figure 124. Power Cycle the Arm
2. Turn OFF the arm by pressing the ON/OFF button.
The power LED, next to the ON/OFF button, is turned OFF when power is off.
3. Turn ON the arm by pressing the ON/OFF button and holding it down until the
power LED next to the ON/OFF button lights blue.
4. Click OK.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Understanding Thresholds and Gains
Thresholds and gains are two terms used in configuring the arm. These terms are
described below.
Thresholds
A threshold is the signal level which specifies the point at which the signal
commanded by the client is translated into motion or switching command by the
arm. Upper and Lower Thresholds in the PI are represented by a pair of horizontal
bars on the vertical scale in the configuration screen.
Gains
Gain is the amplification or scaling factor of the input signal. Gain is calculated as
the ratio of output over input. When you adjust the gain using the gain dial, you are
changing how the arm responds to a user input signal.
Setting Joint or Motion Speed Limits
When setting joint or motion speed limits you need to note the following:
190
•
Mobius Bionics recommends that clients NOT watch the Prosthetist Interface
configuration screens while configuring the arm. Allowing the client to watch
the screens prompts them to respond to the signal level intensity by visual
response. This can interfere with the clients response of inputs to outputs and
affect their comfortable exertion levels.
•
Reassess the configuration based on client comfort throughout the configuration
process.
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Setting Joint or Motion Speed Limits
Input Gains
When setting Input Gains note the following:
•
Mobius Bionics recommends an IMU range of motion of +/- 35 degrees from
zero reference. Note that any client inputs above 45 degrees will be ignored.
•
Set input gains based on comfortable exertion levels.
•
The input gains should be adjusted so that the client can reach 100% input
signal at comfortable exertion levels.
Performing the steps above for Input Gains caps the maximum input signal at
these exertion levels.
Input Thresholds
When setting Input Thresholds note the following:
•
Start with an input threshold setting of 15 to 20 above the resting signal level
when the axes are configured independent or coupled.
•
Only decrease these settings as the client develops proficiency in using the arm.
Output Gains
The output signal level represents a fraction of the maximum joint speed the client is
allowed to use. The output gain is the final control you should use to define the
output speed.
When setting Output Gains note the following:
•
Adjust the output gains so that the output signal at the client’s comfortable
maximum exertion level produces the desired joint or motion output speed.
•
Mobius Bionics recommends starting with an output signal level of 30 to 50%.
•
Only increase these settings as the client develops proficiency in using the arm.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Step 4: Configure Inputs
To configure the IMUs you must select the Activation Channel and set the
Thresholds and Gains for the left IMU anterior/posterior, left IMU medial/lateral,
right IMU anterior/posterior, and right IMU medial/lateral. If you have configured
the client’s system to have two sets of IMUs, these settings will apply to both sets.
Prior to configuring the inputs you need to verify that the input signals are
functioning properly by viewing the View Input Signals screen. See Viewing
Input Signals.
To configure the IMUs perform the following steps:
1. In the PI main screen click the Step 4: Configure IMUs button.
The IMU Setup screen opens. See Figure 125 and Table 24 for more
information.
Figure 125. Step 4: Configure Inputs
Step 4
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Step 4: Configure Inputs
The full red bar, as shown in Figure 125, is an indication that the IMUs have
not been zeroed. After zeroing the IMUs the red bar will be displayed as shown
in Figure 126.
Table 24.
IMU Setup - Fields and Buttons
Fields/Buttons
Input Type
Description
The type of input used to control the arm.
The selections on the screen are:
• IMU
• Rate Sensitive
• Pattern Recognition
NOTE: Selections that are not available are grayed
out.
Activate/Zero IMUs
Activates and zeros the IMUs.
Independent
Allows output of only the intended command axes
with the greater signal intensity on an IMU.
Coupled
Allows for simultaneous output of both axes of an
IMU.
Walk Detect
Enables (active) or disables (inactive) walk detect. Walk
detect ignores commands from the IMU when the
client is walking.
2. Select the corresponding motion for the correct IMU as indicated in the IMU
Setup screen.
The input level should hover or “zero” somewhere around the midpoint of the
scale. If it does not, perform the following to “re-zero” the IMUs:
a. Have the client stand with the IMUs in the desired zero position (usually feet
flat on the floor).
b. Press the Activate/Zero IMUs button. See Figure 126.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Figure 126. Activate/Zero IMUs
The client should be standing during IMU configuration as there is less
freedom of movement when the client is bearing weight on their feet.
3. Communicate and demonstrate to your client that the IMUs, mounted on each
foot, function by measuring the pitch (anterior/posterior movements) and roll
(medial/lateral movements) of the client’s foot.
4. Configure the Upper and Lower Gains for the Left IMU.
Adjust the Upper and Lower Gain dials so that full signal is displayed on the bar
graph when the client pitches and rolls the IMU at a comfortable maximum
position.
5. Configure the Thresholds for the left IMU.
Start with an input threshold setting of 15 to 20 above the resting signal level
and the IMU axes configured to coupled.
When configuring Thresholds in a coupled configuration the goal is to set
thresholds to prevent unintended crosstalk of pitch and roll commands while
making the activation range as symmetrical as possible in the coupled
movement directions (anterior/posterior and medial/lateral). This is
accomplished by:
a. Setting the Anterior and Posterior Thresholds such that Medial and Lateral
movements do not cause the Anterior/Posterior signal level to cross the
thresholds and cause unintended motions.
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Step 4: Configure Inputs
b. Setting the Medial and Lateral Thresholds such that Anterior and Posterior
movements do not cause the Medial/Lateral signal level to cross the
threshold and cause unintended motions.
c. Setting the Thresholds by entering the threshold value in the threshold box
or by dragging the corresponding threshold sliders.
6. Repeat Steps 4 and 5 for the Right IMU.
7. If the client is unable to independently actuate each motion of the IMU with
modest thresholds, the independent option for the IMU axes should be selected.
This allows for command of one axis at a time. If the independent option is
selected repeat steps 1 through 7 above.
8. Click the Update Arm button.
If, after configuring the action (STEP 5 in the configuration process), the arm
moves due to crosstalk of the pitch and roll commands, check that the IMUs
are properly positioned then increase the Threshold until the unintended
motion stops. As an alternative, selecting the independent option allows for
command of only one axis at a time.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Step 5: Configure Arm Actions
Configuring Arm Actions allows you to configure arm and hand control and well as
selected grips.
To configure the arm actions perform the following steps:
1. In the PI main screen click the Step 5: Configure Arm Actions button.
The Arm Action screen opens. The Arm Action screen changes based on the
type of arm configuration (RC, HC, SC) selected in Step 2. See Figure 127 and
Table 25 for more information.
Note that the Arm Action screen will change based upon the type of arm
configuration selected in Step 2.
Figure 127. Step 5: Configure Arm Actions (SC Arm Shown)
Step 5
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Step 5: Configure Arm Actions
Table 25.
Configurable Arm Actions
Control
Action
Arm Control
(SC Arm Only)
Voluntary Elbow
Positioning
Configures the medial/lateral
positioning of the elbow. This moves
the elbow in space medially towards
the center of the client’s body or
laterally away from the client’s body by
rotating the elbow about an axis. This
axis is between the shoulder and the
current hand position.
Hand
Forward/Backward
Configures moving the hand forward
or backward.
Hand Up/Down
Configures moving the hand up or
down.
Hand Left/Right
Configures moving the hand left or
right.
Humeral Rotation
Configures moving the humeral
rotator.
Elbow
Flexion/Extension
Configures moving the elbow.
Pronation/Supination
Configures the rotation of the wrist.
Pronation is the internal rotation
resulting in the palm moving
posteriorly or down. Supination is the
external rotation resulting in the palm
moving anteriorly or up.
Compound Wrist
Configures the wrist flexion, wrist
extension, ulnar deviation, and radial
deviation of the wrist.
Hand Open/Close
Configures the opening and closing of
the hand.
Include in Arm Control
Allows you to configure up to three
hand actions to be performed in Arm
control.
Arm Control
(HC Arm Only)
Hand Control
Description
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Table 25.
Configurable Arm Actions
Control
Action
Toggle Grip
Select
Selectable Grip —
Activates one or more
grips from the
Selectable Grips
configuration box.
Description
Toggled Grips = Allows you to select
a grip by inserting a check next to the
grip.
The possible grips are:
• 1 = Power Grip
• 2 = Tool Grip
• 3 = Fine Pinch Grip Closed
• 4 = Fine Pinch Grip Open
• 5 = Lateral Pinch Grip
• 6 = Chuck Grip
Mode Select
Delay — Sets the delay
for the mode select
from the Delay
configuration box
Turn Off Delay = The amount of
time, in seconds, the client needs to
hold a command in order to put the
arm into Standby mode.
InterActivation Delay = The
amount of time between commands
before the next command is
recognized.
Tactor
Activation
Trigger
198
Tactile Feedback
Provides feedback as to how much
pressure is applied through the arm’s
fingers.
Mode Select
Provides a pulsed feedback when
changing arm modes.
Both
Provides both tactile feedback and
mode select feedback to the client.
Activate/Zero
IMUs
Activates/Deactivates
and Zeros IMUs
Clicking this button activates the IMU
and resets the IMU to the neutral or
zero position. When you activate the
IMU, this button changes to
Deactivate.
Clear Current
Action
NA
Erases the settings for the current
selected action.
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Step 5: Configure Arm Actions
Selecting and Activating an Action
To select, configure, and activate an action perform the following steps:
1. Select the action you want to configure.
When you click the action the dynamic configuration screen changes for that
action.
2. Configure the action using the dynamic configuration screen.
3. Once you have configured the action, activate the action by clicking the
Activate check box next to the action and click the Update Arm button.
If the Activate check box is already checked, do not click it again. This will
deactivate the action.
Note that when you un-click the Activate check box the action is not deleted, it
is just deactivated. To activate the action, click the Activate check box next to
the action.
Configuration Screens - Arm Actions
When you click the Configure Action button the configuration screen for the
selected arm action is displayed. The configuration screen sets the threshold and
gain and is similar to the process performed in STEP 4. See Figure 128 and
Table 26 for more information.
You may need to work through the configuration process with the client a
couple of times to let them experiment with different configurations until they
settle on one setup that is intuitive and is most easily controlled.
When you select an IMU for a particular action, changing the input gains and
thresholds requires returning to the IMU configuration. See Step 4: Configure
Inputs. If, after configuring the action, the arm moves due to crosstalk of the
pitch and roll commands, the thresholds should be increased until the
unintended motion stops.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Figure 128. Example Configure Action Screen - Toggle Grip Select
If you remove a grip in Toggle Grip Select while that grip is currently selected,
that grip will remain selected until you toggle out of the grip.
Table 26.
Configure Actions Settings Glossary
Setting
200
Description
Single Site
Configures both positive and negative direction
motion in a joint with a single channel that provides
for both positive and negative signal levels, such as a
linear transducer.
Dual Site
Configures both a positive and negative direction
motion in a joint using two separate channels each
with unique gains and thresholds.
IMU
Configures an existing IMU channel for both the
positive and negative direction motion in a joint.
Input Channel
An input signal source, connected to a specific type of
sensor the client uses to signal control intent.
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Step 5: Configure Arm Actions
Table 26.
Configure Actions Settings Glossary
Setting
Description
Input Gain
For Single Site and Dual Site inputs, this should be
adjusted so that the client can reach 100% input
signal at a comfortable exertion level.
Threshold Value
Input signals below this level are ignored by the
system.
Select Activation Mode
(Single Site only)
This parameter selects how the system reacts to
command signals when the system transitions from
Standby to Hand or Arm (if applicable) modes. The
Active Zero option allows you to set a “zero” point at
a selected level of the input signal. Changes relative to
the “zero” of the input signal are treated as command
inputs. The Conventional option turns off this feature
in single site inputs.
Active Zero is built into IMU input functions, and can
be selected for Single Site inputs, but not Dual Site
inputs. Note that the Active Zero function of the IMUs
cannot be shut off.
Output Gain
Allows you to increase or decrease the amount of
output gain in order to achieve an ideal response after
you have properly set up the input gains. This
effectively sets the velocity response of the joint being
configured.
Switch Direction
Allows you to change the direction of movement that
occurs when an input is active.
Velocity Control
Allows you to configure the controls in velocity mode
where the velocity of the joint is controlled based on
how hard the client presses on the sensor. This
control is similar to using a joystick.
Position Control
Allows you to configure the controls in position mode
where the joint is controlled to a desired position
commanded by the client. This control is similar to
using a mouse or a touchpad.
Go to each appropriate Action and configure settings according to what the client
wants (the process is similar to the steps used in Step 4). You may go through this
process a couple of times to let the client experiment with different configurations
until they settle on one setup that is intuitive to them and is most easily controlled.
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Chapter 11: Configuring the Arm Using the Prosthetist Interface
Tool Tips and Keyboard Shortcuts
As you scroll over specific areas within the configuration screens tool tips will pop
up. These tips provide helpful information on configuring the arm. See Figure 113
for a tool tip example. When you scroll over the VRE Image Control keys a tool tip
pops up providing you with the keyboard shortcut for that movement.
Figure 129. Example - Tool Tip
Tool Tip
What’s Next
The next step is to check and confirm the arm’s configuration using the Virtual
Reality Environment (VRE) and View Input Signals. The VRE allows the client to
practice moving the arm using the selected control scheme. The View Input Signals
allows you to view channel signals. For detailed information on the Virtual Reality
Environment and View Input Signals see Chapter 12, “Virtual Reality Environment
and Viewing Input Signals”.
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Chapter 14: Maintaining and Troubleshooting the Arm
Troubleshooting
The following tables provide solutions to solving problems with the arm.
Table 29.
Troubleshooting - Try This First
These basic tips may help you quickly solve problems with the arm:
TRY
THIS
FIRST
1. Put the arm into Standby Mode.
2. Check and secure the IMUs on your feet.
3. Take the arm out of Standby Mode.
1. Power the arm off.
2. Shake the IMUs to wake them. Look for the blinking blue
LEDs.
3. Make sure all cables are securely connected.
4. Put your feet flat on the ground
5. Power the arm on.
See the tables below to help you in troubleshooting problems with the Arm System:
•
Table 30, Troubleshooting - Wrist Display and System Faults
–
•
Table 31, Troubleshooting - Arm Function
–
•
Use this table for help with moving the arm or changing grips
Table 32, Troubleshooting - Power and Battery Charging
–
•
Use this table for help when Wrist Display LEDs are on or flashing
Use this table for help with powering the arm on and charging batteries
Table 33, Troubleshooting - Arm and PI Computer Communication
–
Use this table for help with arm to PI computer communication problems
If the solutions in these troubleshooting tables do not solve the problem with the
arm, contact Technical Support. See Contacting Technical Support.
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Troubleshooting the Arm
Table 30. Troubleshooting - Wrist Display and System Faults
Problem
Cause
Solution
System Fault Icons Blinking
IMU not awake
1. Power the arm off
2. Shake the IMUs to wake them
Fault Code: 3
3. Power the arm on
IMU battery low
1. Power the arm off
2. Shake the IMU to check the IMU
battery charge level and charge if
necessary
3. Power the arm on
Arm trying to talk to
wrong set of IMUs (if two
sets are configured)
1. Power the arm off
2. Shake both sets of IMUs to wake them
3. Power the arm on
4. If no fault, the arm is talking to the
IMUs that are blinking blue
Ham radios, walkie
talkies, theft detectors, or
metal detectors are
affecting the arm
1. Power the arm off
2. Move the arm at least 0.5 m (20
inches) away from any ham radios,
walkie talkies, theft detectors, or metal
detectors
3. Power the arm on
System Fault Icons Blinking
Fault Code: 36
ACI not talking to arm
1. Power the arm off
2. Check and tighten all system cables,
and replace any damaged cables
3. Power the arm on
ACI failure
1. Power the arm off
2. Replace the ACI
3. Power the arm on and set the ACI
module ID if necessary
Tactor failure
1. Power the arm off
2. Replace the Tactor
3. Power the arm on
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Chapter 14: Maintaining and Troubleshooting the Arm
Table 30. Troubleshooting - Wrist Display and System Faults
Problem
Cause
Solution
System Fault Icons Blinking
Fault Codes: 6, 456
Client configuration
invalid
1. Load a configuration from a file into PI
2. Update the arm
3. Power the arm off
4. Power the arm on
Client configuration
invalid and file corrupt
1. Clear the configuration in PI
2. Update the arm
3. Power the arm off
4. Power the arm on
5. Create a new configuration or load a
known good configuration using PI and
update the arm
System Fault Icons Blinking
Arm motors warm
Fault Codes: 25, 26, 34,
256
1. Power the arm off
2. Move to a cooler location if possible
3. Wait 15 minutes
4. Power the arm on
System Fault Icons Blinking
Fault Code: 2346
Shoulder mount angles
invalid
Zero the shoulder. See Zero the Shoulder
(if fitting an SC arm).
System Fault Icons Blinking
Contact Technical Support. See
Fault Code Not Listed
Contacting Technical Support.
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Troubleshooting the Arm
Table 30. Troubleshooting - Wrist Display and System Faults
Problem
Cause
Solution
Low Battery Icon On
Battery is low
1. Replace the external battery in the holster with a fully charged battery.
2. Plug the AC Adapter into the forearm
charging port
External battery not
connected
1. Check that the external battery is properly seated in the holster
2. Check and tighten the cables between
the arm and the holster, and replace
any damaged cables if necessary
IMU not talking to arm
Shake the IMUs to wake them
IMU battery is low
Charge the IMUs
Arm trying to talk to
wrong set of IMUs (if two
sets are configured)
While the LEDs are still sweeping, press the
wrist display button
Ham radios, walkie
talkies, theft detectors, or
metal detectors are
affecting the arm
Move the arm at least 0.5 m (20 inches)
away from any ham radios, walkie talkies,
theft detectors, or metal detectors
Grip Select LEDs Sweeping
Sweeping
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Chapter 14: Maintaining and Troubleshooting the Arm
Table 30. Troubleshooting - Wrist Display and System Faults
Problem
Cause
Solution
Arm Mode LED Blinking
Walk Detect
1. Stop walking
2. Put your feet flat on the ground
3. Check that the Arm Mode LED has
stopped blinking
IMU tilted too far
1. Put the arm into Standby Mode
2. Check and secure the IMUs on your
feet
3. Put your feet flat on the ground
4. Take the arm out of Standby Mode
Thresholds or gains need
adjustment
1. Put the arm into Standby Mode
2. Ask the client to be at a resting position
3. Use PI to check that all non-IMU inputs
are below the threshold
4. Adjust the input device thresholds or
gains as necessary
5. Update the arm
6. Take the arm out of Standby Mode
Input device not working
1. Power the arm off
2. Replace the input device
3. Power the arm on
4. Use PI to check the thresholds and
gains for the new input device and
adjust if necessary
230
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Troubleshooting the Arm
Table 31. Troubleshooting - Arm Function
Problem
Cause
Solution
Arm moving without command
IMU zero position
changed
1. Put the arm into Standby Mode
2. Check and secure the IMUs on your
feet.
3. Put your feet flat on the ground
4. Take the arm out of Standby Mode
Sweat near EMGs
1. Put the arm into Standby Mode
2. Wipe the sweat from the EMG
electrode and skin with a dry cloth
3. Take the arm out of Standby Mode
Ham radios or walkie
talkies are affecting the
arm
1. Put the arm into Standby Mode
2. Move the arm at least 0.5 m (20
inches) away from any ham radios or
walkie talkies
3. Take the arm out of Standby Mode
Arm not moving
Arm is in Standby Mode
Put the arm into Hand Mode
Arm is off
1. Shake the IMUs to wake them
2. Power the arm on
Arm is faulted
See Table 30, Troubleshooting - Wrist
Display and System Faults.
Input device not
connected
1. Power the arm off
2. Check and tighten all connections at
the ACI
3. Power the arm on
Cannot change Modes
Input device not
connected
1. Power the arm off
2. Check and tighten all connections at
the ACI
3. Power the arm on
Input device not working
1. Power the arm off
2. Replace the input device
3. Power the arm on
4. Use PI to check the thresholds and
gains for the new input device and
adjust if necessary
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231
Chapter 14: Maintaining and Troubleshooting the Arm
Table 31. Troubleshooting - Arm Function
Problem
Cause
Solution
Cannot change grips
Hand is not fully open
1. Put the arm into Hand Mode
2. Fully open the hand
3. Change grips
Input device not working
1. Power the arm off
2. Replace the input device
3. Power the arm on
4. Use PI to check the thresholds and
gains for the new input device and
adjust if necessary
Table 32.
Troubleshooting - Power and Battery Charging
Problem
Cause
Solution
Arm does not power on
Internal battery too low
1. Plug the AC Adapter into the forearm
charging port
2. The charging status icon first blinks
yellow for a few minutes. Wait until the
charging status icon blinks blue.
3. Power the arm on
External battery too low
1. Replace the external battery in the holster with a fully charged one
2. Power the arm on
External battery not
connected
1. Check that the external battery is properly seated in the holster
2. Check and tighten the cables between
the arm and the holster
3. Power the arm on
Internal Battery Charging
Charging Status Icon Blinking
Yellow
Internal battery charging
paused
1. Move the arm to a cooler location
2. Wait up to 2 hours. You can keep the
arm on and the AC adapter connected
while waiting.
3. Charging should continue on its own. If
it does not, contact Technical Support.
See Contacting Technical Support.
232
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Troubleshooting the Arm
Table 32.
Troubleshooting - Power and Battery Charging
Problem
Cause
Solution
Charging Status Icon On Solid
Yellow
Internal battery charging
fault
Contact Technical Support. See Contacting
Technical Support.
AC adapter failure
Replace AC adapter
Charging Dock Fault Status
Blinking Yellow
Charging paused
1. Wait up to 2 hours. You can keep the
charging dock on and the battery in the
charging dock while waiting.
2. Charging should continue on its own. If
it does not, contact Technical Support.
See Contacting Technical Support.
Charging Dock Fault Status
On Solid Yellow
Charging fault
External Battery Charging
Contact Technical Support. See Contacting
Technical Support.
IMU Charging
IMU Yellow LED On Solid
Charging paused
1. Wait up to 30 minutes. You can keep the
charging pad on and the IMU on the
charging pad while waiting.
2. Charging should continue on its own. If
it does not, contact Technical Support.
See Contacting Technical Support.
IMU Yellow LED Blinking
Self test failure
1. Remove the IMU from the charging pad
2. Wait 5 seconds
3. Place the IMU on the charging pad
4. If the error persists, contact Technical
Support. See Contacting Technical
Support.
IMU LED off
IMU not talking to
charging pad
1. Clean the top of the charging pad.
2. Clean the bottom of the IMU.
3. Place the IMU, LED side up, on the
charging pad’s center circle.
If the solutions in these troubleshooting tables do not solve the problem with the
arm, contact Technical Support. See Contacting Technical Support.
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233
Chapter 14: Maintaining and Troubleshooting the Arm
Table 33.
Troubleshooting - Arm and PI Computer Communication
Problem
PI can’t connect to arm and no
LEDs on PC dongle
Cause
Dongle failure
Solution
1. Close the PI application
2. Remove the PC dongle from the USB
port
3. Insert the PC dongle into the USB port
4. If no LEDs on PC dongle, replace the
PC dongle
5. Open the PI application
6. Discover and select MAC
PI can’t connect to arm and
• PC dongle green LED on solid
• PC dongle yellow LED off
Dongle
communication
failure
1. Close the PI application
2. Remove the PC dongle from the USB
port
3. Insert the PC dongle into the USB port
4. Open the PI application
5. Discover and select MAC
PI can’t connect to arm and
• PC dongle green LED on solid
• PC dongle yellow LED
flashing
Dongle
communication
failure
1. Close the PI application
2. Remove the PC dongle from the USB
port
3. Insert the PC dongle into the USB port
4. Open the PI application
5. Discover and select MAC
PI can’t connect to arm and
• PC dongle green LED on solid
• PC dongle yellow LED on
solid
Dongle
communication
failure
1. Close the PI application
2. Remove the PC dongle from the USB
port
3. Insert the PC dongle into the USB port
4. Open the PI application
5. Discover and select MAC
234
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B
Technical Specifications
This appendix provides technical specifications for the LUKE arm, battery, AC
Adapter and charging pad.
Topics in this Appendix include:
•
Arm Specifications
•
Battery Specifications
•
AC Adapter Specifications
•
Charging Pad Specifications
•
Arm Radio Specifications
Arm Specifications
Table 34.
Parameter
Arm System Specifications
Explanation
Compliance
The LUKE arm system complies with IEC 60601-1:2005
Power Type
The arm is internally powered when under battery power
Designation
The arm is designated Class II when plugged into the AC Adapter
Parts Type
The arm and all body worn accessories are Type BF applied parts
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241
Appendix B: Technical Specifications
Table 35.
Operating Environmental Range
Parameter
Range
Operating Temperature
• 10 °C to 40 °C (50 °F to 104 °F) with no degradation in
performance
• -10 °C to 50 °C (14 °F to 122 °F) with reduced arm speed
and/or load capacity
Humidity
15% to 93% (non-condensing)
Pressure
700 hPa to 1060 hPa
Arm and body worn Mobius
Bionics supplied accessories IP
rating
IP52
IMU IP Rating
IP57
When using the arm continuously in a hot environment (40 °C, 104 °F) and
while charging the internal battery, portions of the forearm and upper arm (if
applicable) could reach temperatures of 54 °C - 57 °C (130 °F - 135 °F), when
evaluated as directed in IEC 60601-1: 2005-12.
Table 36.
Transport and Storage Environmental Range
Parameter
Range
Storage Temperature (excluding
battery)
-25 °C to 70 °C (-13 °F to 158 °F)
Humidity
15% to 93% (non-condensing)
Pressure
700 hPa to 1060 hPa
242
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Arm Specifications
Table 37.
Service Life Specifications
Part
Service Life
Arm
Expected to function for up to three (3) years with an 18 month
service interval
Internal and External Batteries
Expected to provide at least 80% of new capacity for up to a year of
typical use
IMU Battery
Expected runtime is at least 18 hours for up to a year of use
AC Adapter and Charging Pad
Expected to function for up to three (3) years
External Battery Holster and
External Battery Charging Dock
Expected to function for up to three (3) years
ACI and Cables
Expected to function for up to three (3) years
Table 38.
Mass of Arm Configurations
Arm Configuration
Mass
Shoulder Configuration (SC)
4.7 kg
Humeral Configuration (HC)
3.4kg
Radial Configuration (RC)
1.4 kg
Table 39.
Dimensions of Arm Configurations
Arm Configuration
Dimensions
Shoulder Configuration (SC)
See Figure 138
Humeral Configuration (HC)
See Figure 139
Radial Configuration (RC)
See Figure 140
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243
Appendix B: Technical Specifications
Figure 138. Dimensions of Shoulder Configuration (In Centimeters)
9.8
23
23.2323
See Note
23aa
See Note 2
26.4
4.3
23.4
26.4
38.6
14.5
19.5
•
Note 1: Upper arm length configurations in 1 cm increments from 26.4 cm to
31.4 cm. See Arm Configurations.
•
Note 2: Forearm length configurations in 1 cm increments from 23.4 cm to
27.4 cm. See Arm Configurations.
Figure 139. Dimensions of Humeral Configuration (In Centimeters)
14.5
12.7
17.3
23.4
19.5
See Note 3
244
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Battery Specifications
•
Note 3: Forearm length configurations in 1 cm increments from 23.4 cm to
27.4 cm. See Arm Configurations.
Figure 140. Dimensions of Radial Configuration (In Centimeters)
12.1
31.6
14.5
Battery Specifications
Table 40.
Battery Charge and Operation Times
Arm System
Configuration
Battery Type
One (1) Hour Charge
Operation Time1
SC/HC
Internal Battery
One (1) Hour
Two (2) Hours
SC/HC
External Battery
Two (2) Hours
Five (5) Hours
RC
External Battery
Four (4) Hours
Ten (10) Hours
IMU
Not Applicable
Not Applicable
One (1) Day
Full Charge2
Operation Time1
NOTES:
1. Actual use time may vary from stated figures based on use patterns, battery age, and arm configuration.
Contact Technical Support for additional information. See Contacting Technical Support.
2. See Chapter 9, “Installing, Connecting, and Charging the System Batteries”for charging time.
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245
Appendix B: Technical Specifications
Table 41.
Power Specifications - Internal Battery
Parameter
Range/Explanation
Battery Type
Lithium-Ion
Capacity
30 Watt-Hours
Charging time (approximate)
80% capacity in less than 2.0 hours
Storage Life
Three (3) months without recharging
Storage Temperature
Short Term (24 Hours Maximum): -25 °C to 70 °C (-13 °F to
158 °F)
Long Term: -10 °C to 50 °C (14 °F to 122 °F)
Table 42.
Power Specifications - External Battery
Parameter
Range/Explanation
Battery Type
Lithium-Ion
Capacity
74 Watt-Hours
Charging time (approximate)
80% capacity in less than 2.0 hours
Storage Life
Three (3) months without recharging
Storage Temperature
Short Term (24 Hours Maximum): -25 °C to 70 °C (-13 °F to
158 °F)
Long Term: -10 °C to 50 °C (14 °F to 122 °F)
Table 43.
Power Specifications - IMU Battery
Parameter
Range/Explanation
Battery Type
Lithium-Polymer
Capacity
190 mAh
Charging time (approximation)
80% capacity in less than 2.0 hours
Storage Life
Three (3) months without recharging
Storage Temperature
Short Term (24 Hours Maximum): -25 °C to 70 °C (-13 °F to
158 °F)
Long Term: -10 °C to 50 °C (14 °F to 122 °F)
246
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AC Adapter Specifications
AC Adapter Specifications
Table 44.
AC Adapter Specifications
Parameter
Range/Explanation
Input Voltage
100 VAC - 240 VAC
Input Frequency
50/60 Hz
Input Current
1.5 Amps
Operating Temperature
0 °C to 70 °C (32 °F to 158 °F)
Operating Humidity
10% to 95% RH, non-condensing
Storage Temperature
-40 °C to 80 °C (-40 °F to 176 °F)
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247
Appendix B: Technical Specifications
Charging Pad Specifications
Table 45.
Charging Pad Specifications
Parameter
Range/Explanation
Input Voltage
100 VAC - 240 VAC
Input Frequency
50/60 Hz
Current Rating
1 Amp Maximum
Transmit Frequency Range
100 kHz - 205 kHz
Transmit Power
<5 W
Protocol
Qi version 1.1, Wireless Power Consortium
Effective Range
10 mm or less
Wireless Security
Qi version 1.1
Quality of Service Provisions
Any debris or clutter between the bottom of the IMU and the
Charging Pad may prevent IMU charging. Any increase in the
distance between the IMU and Charging Pad will increase
communication interference. This interference, however, will not
cause any incorrect data to be sent and will not cause any harm to
the LUKE arm system.
Loss or corruption of data between the IMU and Charging Pad for
more than 2 seconds can result in the interruption of charging.
In these cases, communication problems can usually be resolved by
ensuring the top of the Charging Pad is clean and clear of clutter,
the IMU is clean and its label is free of wrinkles, and that IMUs are
placed label side down and placed as close as possible to the center
of the charging pad targets.
248
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Arm Radio Specifications
Arm Radio Specifications
Table 46.
Arm Radio Specifications
Parameter
Range/Explanation
Transmit and Receive Frequency
Range
2.4 - 2.5 GHz
Effective Radiated Power
<10 mW
Modulation
Direct Sequence Spread Spectrum per IEEE 802.15.4-2006
Protocol
Proprietary Frequency Hopping Communication Protocol
FCC Compliance
This device complies with part 15 of the FCC Rules. Operation is
subject to the following two conditions: (1) This device may not
cause harmful interference, and (2) this device must accept any
interference received, including interference that may cause
undesired operation.
Pursuant to FCC 15.21 of the FCC rules, changes not expressly
approved by Mobius Bionics might cause harmful interference and
void the FCC authorization to operate this product.
This product complies with FCC OET Bulletin 65 radiation
exposure limits set forth for an uncontrolled environment.
Effective Range (Arm/IMU)
3 m or less
Effective Range (Arm/Dongle)
1 m or less
Wireless Security
Proprietary Frequency Hopping Communication Protocol
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249
Appendix B: Technical Specifications
Table 46.
Arm Radio Specifications (Continued)
Parameter
Quality of Service Provisions
Range/Explanation
Interruption or corruption of communication between the Arm and
IMUs can lead to interruptions in arm motion. Interruption of
communication for more than 2 seconds may lead to the system
reverting to Standby mode. Interruption of communication for more
than 8 seconds results in the system declaring a fault.
Common consumer electronic devices that transmit in the same
frequency band used by the LUKE arm system may prevent the
Arm and IMUs from communicating. Microwave ovens, Bluetooth®
devices, Wi-Fi® networks and 2.4 GHz cordless phones, when
transmitting or receiving, can cause interruption of communication
between the Arm and IMUs. During testing, the LUKE arm system
experienced occasional communication interruptions in the
presence of Bluetooth mice. It is likely that other devices operating
in similar frequency ranges can have a similar effect. This
interference, however, will not cause any incorrect data to be sent
and will not cause any harm to the LUKE arm system.
Some metal detectors and anti-theft detection systems at store exits
transmit in the same frequency band used by the LUKE arm system.
These devices can cause interruption of communication between
the Arm and IMUs. Again, this interference will not cause any
incorrect data to be sent and will not cause any harm to the LUKE
arm system.
In each of these cases, communication problems can usually be
resolved by turning off or moving away from other RF transmitting
devices.
250
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C
Manufacturers and Part Numbers
This appendix lists the Manufacturer and Part Numbers for LUKE arm types,
accessories, and user inputs within the LUKE arm system.
Topics in this appendix include:
•
Hand and Finger Covers
•
General Accessories
•
User Inputs
•
Optional Accessories
•
External Cables
LUKE Arms
Table 47.
LUKE Arm Manufacturers and Part Numbers
Arm Type
Manufacturer
Part Number
SC (with Internal Battery)
Mobius Bionics
LU-105A1-BCD
SC (without Internal Battery)
Mobius Bionics
LU-105A2-BCD
HC (with Internal Battery)
Mobius Bionics
LU-103A1-0CD
HC (without Internal Battery)
Mobius Bionics
LU-103A2-0CD
RC
Mobius Bionics
LU-101A2-00D
NOTES:
• A designates hand type. 1 = Right Hand, 2 = Left Hand
• B designates upper arm length
• C designates forearm length
• D designates hand length
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251
Appendix C: Manufacturers and Part Numbers
Hand and Finger Covers
Table 48.
Hand and Finger Cover Manufacturers and Part Numbers
Description
Manufacturer
Part Number
Hand Cover, Right
Mobius Bionics
LU-38012-001
Hand Cover, Left
Mobius Bionics
LU-38012-002
Nylon Tape for Securing Hand
Cover
Mobius Bionics
LU-41091-001
Finger Cover, Thumb, Right
Mobius Bionics
LU-38013-001
Finger Cover, Thumb, Left
Mobius Bionics
LU-38013-002
Finger Cover, Index
Mobius Bionics
LU-38014-001
Finger Cover, Middle
Mobius Bionics
LU-38015-001
Finger Cover, Ring
Mobius Bionics
LU-38016-001
Finger Cover, Pinky
Mobius Bionics
LU-38017-001
Fingernail, Thumb
Mobius Bionics
LU-36352-001
Fingernail, Index
Mobius Bionics
LU-36434-001
Fingernail, Middle and Ring
Mobius Bionics
LU-36407-001
Fingernail, Pinky
Mobius Bionics
LU-36403-001
Screw, Fingernail, All Except
Pinky
Mobius Bionics
LU-41005-20060
Screw, Fingernail, Pinky
Mobius Bionics
LU-41005-20050
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General Accessories
General Accessories
Table 49.
General Accessories Manufacturers and Part Numbers
Accessory
Manufacturer
Part Number
ACI
Mobius Bionics
LU-20264-001
ACI USB Port Cover
Mobius Bionics
LU-38021-001
External Battery Charging Dock
Mobius Bionics
LU-20272-001
External Battery Holster (without
Power Button)1
Mobius Bionics
LU-20273-001
External Battery Holster (with
Power Button)2
Mobius Bionics
LU-20273-002
PC Dongle
Mobius Bionics
LU-20275-001
RC Battery Adapter3
Mobius Bionics
LU-20311-001
External Battery
Mobius Bionics
LU-70154-001
AC Adapter
Mobius Bionics
LU-70214-001
NOTES:
1. Used with all arm types that have an internal battery.
2. Used with all arm types that have no internal battery.
3. Only used with RC arms.
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253
Appendix C: Manufacturers and Part Numbers
User Inputs
The LUKE arm system has been evaluated with the following input signal
sources.
Table 50.
User Inputs Manufacturers and Part Numbers
Input
Manufacturer
Part Number
IMU
Mobius Bionics
LU-20260-001
Pressure Transducer
Mobius Bionics
LU-20276-001
EMG
Otto Bock
13E200
Linear Transducers
Otto Bock
9X50
Liberating Technologies
LT01/LT02
Pressure Switch
Otto Bock
9X37
Rocker Switch
Otto Bock
9X25
Optional Accessories
Table 51.
Optional Accessories Manufacturers and Part Numbers
Accessory
Manufacturer
Part Number
IMU Shoe Clips
Mobius Bionics
LU-40128-001
Tactor
Mobius Bionics
LU-20274-001
Tactor Mounting Clips
Mobius Bionics
LU-40130-001
LU-40176-001
Wireless Charging Pad1
Mobius Bionics
LU-70388-001
NOTES:
1. Used to charge up to two IMUs.
254
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External Cables
External Cables
Table 52.
External Cable Manufacturers, Part Numbers, and Maximum Length
Cable
Manufacturer
Part Number
Maximum
Length
ACI & Tactor Extension Cable
Mobius Bionics
LU-60068-0000
500 mm
External Battery Extension Cable
Mobius Bionics
LU-60072-0000
1000 mm
ACI Straight to Flat Ribbon Cable
Mobius Bionics
LU-60099-001
500 mm
1 Channel ACI Straight to Otto
Bock 9E185 Cable
Mobius Bionics
LU-60100-000
300 mm
2 Channel ACI Straight to Otto
Bock 9E185 Cable
Mobius Bionics
LU-60101-000
300 mm
ACI Right Angle to Flat Ribbon
Cable
Mobius Bionics
LU-60103-001
500 mm
1 Channel ACI Right Angle to Otto
Bock 9E185 Cable
Mobius Bionics
LU-60104-000
300 mm
2 Channel ACI Right Angle to Otto
Bock 9E185 Cable
Mobius Bionics
LU-60105-000
300 mm
AC Adapter Line Cord, USA
Mobius Bionics
LU-70261-001
1830 mm
RC Arm Power & CAN Harness
Mobius Bionics
LU-60119-001
200 mm
RISK OF DEATH OR SERIOUS HARM
The use of accessories, transducers, and cables other than those specified may
result in increased emission or decreased immunity of the LUKE arm system.
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255
Appendix C: Manufacturers and Part Numbers
Socket Fabrication Components
Table 53.
Socket Fabrication Components
Description
Manufacturer
Part Number
RC Socket Adapter
Mobius Bionics
LU-20269-001
RC Socket Adapter Cable Hole Plug
Mobius Bionics
LU-38035-001
RC Socket Adapter Thread Protector
Mobius Bionics
LU-38033-001
HC Socket Adapter
Mobius Bionics
LU-20283-001
HC Socket Adapter Thread Protector
Mobius Bionics
LU-38034-001
SC Socket Adapter
Mobius Bionics
LU-37158-001
SC Socket Adapter Screws, M3 x 0.5,
6 mm Long, Flat Head
Mobius Bionics
LU-41003-30061
SC Bend Bracket
Mobius Bionics
LU-37156-001
SC Arm Mounting Screws, M4 x 0.7,
12 mm Long, Socket Head
Mobius Bionics
LU-41000-040121
Spanner Wrench
Mobius Bionics
LU-80203-001
Fitting Arm
Mobius Bionics
LU-20293-001
Form Shoulder
Mobius Bionics
LU-20305-001
256
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D
Guidance and Manufacturer’s
Declaration
This Appendix details information on the electromagnetic environment and
recommended spacing between portable and mobile RF communications
equipment (transmitters) and the LUKE arm system.
Electromagnetic Environment
The LUKE arm system is intended for use in the electromagnetic environment
specified in Table 54 and Table 55. The user of the LUKE arm system should
assure that it is used in such an environment.
Electromagnetic Emissions
Table 54. Guidance and Manufacturer’s Declaration - Electromagnetic Emissions
Emissions Test
RF emissions
Compliance
Group 1
The LUKE arm system uses RF energy only for its
internal function. Therefore, its RF emissions are very
low and are not likely to cause any interference in
nearby electronic equipment.
Class B
The LUKE arm system is suitable for use in all
establishments, including domestic establishments and
those directly connected to the public low voltage
power supply network that supplies buildings used for
domestic purposes.
CISPR 11
RF emissions
CISPR 11
Electromagnetic Environment - Guidance
Rev. 1.5 -- Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document
257
Appendix D: Guidance and Manufacturer’s Declaration
Electromagnetic Immunity
Table 55. Guidance and Manufacturer’s Declaration - Electromagnetic Immunity
Immunity Test
Electrostatic
discharge (ESD)
IEC 60601 Test
Level
Compliance Level
+/- 6 kV contact
+/- 6 kV contact
+/- 8 kV air
+/- 8 kV air
Electrical fast
transient/burst
+/- 2 kV for power
+/- 2 kV for power
supply lines
supply lines
IEC 61000-4-4
+/- 1 kV for
input/output
+/- 1 kV for
input/output
lines
lines
Surge
+/- 1 kV line(s) to
+/- 1 kV line(s) to
IEC 61000-4-5
line(s)
line(s)
+/- 2 kV line(s) to
earth
+/- 2 kV line(s) to
earth
<5% UT
<5% UT
(>95% dip in UT)
(>95% dip in UT)
for 0,5 cycle
for 0,5 cycle
40% UT
40% UT
(60% dip in UT)
(60% dip in UT)
for 5 cycles
for 5 cycles
70% UT
70% UT
(30% dip in UT)
(30% dip in UT)
for 25 cycles
for 25 cycles
<5% UT
<5% UT
(>95% dip in UT)
(>95% dip in UT)
for 5 s
for 5 s
3 A/m
3 A/m
IEC 61000-4-2
Voltage dips,
short
interruptions and
voltage
variations on
power supply
input lines
IEC 61000-4-11
Power frequency
(50/60 Hz)
magnetic field
IEC 61000-4-8
Electromagnetic Environment Guidance
Floors should be wood, concrete or
ceramic tile. If floors are covered
with synthetic material, the relative
humidity should be at least 30%.
Mains power quality should be that
of a typical commercial or hospital
environment.
Mains power quality should be that
of a typical commercial or hospital
environment.
Mains power quality should be that
of a typical commercial or hospital
environment. If the user of the
LUKE arm system requires
continued operation during power
mains interruptions, it is
recommended that the LUKE arm
system be powered from an
uninterruptible power supply or a
battery.
Power frequency magnetic fields
should be at levels characteristic of
a typical location in a typical
commercial or hospital
environment.
NOTE: UT is the a.c. mains voltage prior to application of the test level.
258
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document -- Rev. 1.5
Electromagnetic Environment
Table 55. Guidance and Manufacturer’s Declaration - Electromagnetic Immunity
Immunity Test
IEC 60601 Test
Level
Compliance Level
Electromagnetic Environment Guidance
Portable and mobile RF
communications equipment should
be used no closer to any part of the
LUKE arm system, including cables,
than the recommended separation
distance calculated from the
equation applicable to the
frequency of the transmitter.
Recommended Separation
Distance:
Conducted RF
3 Vrms
3 Vrms
IEC 61000-4-6
150 kHz to 80 MHz
150 kHz to 80 MHz
Radiated RF
3 V/m
10 V/m
IEC 61000-4-3
80 MHz to 2.5 GHz
26 MHz to 80 MHz
(continued on
next page)
3 V/m
80 MHz to 460 MHz
10 V/m
460 MHz to 470 MHz
3 V/m
470 MHz to 690 MHz
20 V/m
690 MHz to 800MHz
20 V/m
d = 1.2 P
d = 0.35 P
d = 1.2 P
d = 0.35 P
d = 1.2 P
d = 0.18 P
d = 0.35 P
800MHz to 965 MHz
(continued on next
page)
where P is the maximum output
power rating of the transmitter in
watts (W) according to the
transmitter manufacturer and d is
the recommended separation
distance in meters (m).
Rev. 1.5 -- Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document
259
Appendix D: Guidance and Manufacturer’s Declaration
Table 55. Guidance and Manufacturer’s Declaration - Electromagnetic Immunity
Immunity Test
IEC 60601 Test
Level
Compliance Level
Radiated RF
3 V/m
3 V/m
IEC 61000-4-3
80 MHz to 2.5 GHz
965MHz to 1.39 GHz
Electromagnetic Environment Guidance
d = 2.3 P
(continued)
20 V/m
d = 0.35 P
1.39 GHz to 6.0 GHz
Field strengths from fixed RF
transmitters, as determined by an
electromagnetic site surveya should
be less than the compliance level in
each frequency range.b
Interference may occur in the
vicinity of equipment marked with
the following symbol:
Magnetic Fields
generated by:
• Metal
Detectors
• EAS Systems
and Tag
Deactivators
(No Standard
Applied)
N/A
0.1 kHz - 3.5 kHz
No special precautions required.
300 A/m
10 kHz - 60 kHz
50 A/m
50 kHz - 150 kHz
30 A/m
NOTE 1: At 80 MHz, 460 MHz, 470 MHz, 690 MHz, 800 MHz, 965 MHz, and 1.39 GHz, the higher
frequency range applies.
NOTE 2: These guidelines may not apply in all situations. Electromagnetic propagation is affected by
absorption and reflection from structures, objects and people.
a Field strengths from fixed transmitters, such as base stations for radio (cellular/cordless) telephones and
land mobile radios, amateur radio, AM and FM radio broadcast and TV broadcast cannot be predicted
theoretically with accuracy. To assess the electromagnetic environment due to fixed RF transmitters, an
electromagnetic site survey should be considered. If the measured field strength in the location in which
the LUKE arm system is used exceeds the applicable RF compliance level above, the LUKE arm system
should be observed to verify normal operation. If abnormal performance is observed, additional
measures may be necessary, such as re-orienting or relocating the LUKE arm system.
b Over the frequency range 150 kHz to 80 MHz, field strengths should be less than 3 V/m.
260
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document -- Rev. 1.5
Recommended Separation Distances
Recommended Separation Distances
The LUKE arm system is intended for use in an electromagnetic environment in
which radiated RF disturbances are controlled. The user of the LUKE arm system
can help prevent electromagnetic interference by maintaining a minimum distance
between portable and mobile RF communications equipment (transmitters) and the
LUKE arm system as recommended below, according to the maximum output
power of the communications equipment.
Table 56 and Table 57 defines the recommended separation distances between
portable and mobile RF communications equipment and the LUKE arm system.
Table 56.
Recommended Separation Distances (Part I)
Rated Maximum Output
Power of Transmitter
Separation Distance According to Frequency of Transmitter
150 kHz 80 MHz
26 MHz 80 MHz
80 MHz 460 MHz
460 MHz 470 MHz
470 MHz 690 MHz
d = 1.2 P
d = 0.35 P
d = 1.2 P
d = 0.35 P
d = 1.2 P
0.01
0.12
0.035
0.12
0.035
0.12
0.1
0.37
0.11
0.37
0.11
0.37
1.2
0.35
1.2
0.35
1.2
10
3.7
1.1
3.7
1.1
3.7
100
12
3.5
12
3.5
12
For transmitters rated at a maximum output power not listed above, the recommended separation distance
d in meters (m) can be estimated using the equation applicable to the frequency of the transmitter, where P
is the maximum output power rating of the transmitter in watts (W) according to the transmitter
manufacturer.
NOTE 1: At 80 MHz, 460 MHz, 470 MHz, 690 MHz, 800 MHz, 965 MHz, and 1.39 GHz, the
separation distance for the higher frequency range applies.
NOTE 2: These guidelines may not apply in all situations. Electromagnetic propagation is affected by
absorption and reflection from structures, objects and people.
Rev. 1.5 -- Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document
261
Appendix D: Guidance and Manufacturer’s Declaration
Table 57. Recommended Separation Distances (Part II)
Rated Maximum Output
Power of Transmitter
Separation Distance According to Frequency of Transmitter
690 MHz 800 MHz
800 MHz 965 MHz
965 MHz 1.390 GHz
1.390 GHz 6.0 GHz
d = 0.18 P
d = 0.35 P
d = 2.3 P
d = 0.35 P
0.01
0.018
0.035
0.23
0.035
0.1
0.055
0.11
0.74
0.11
0.18
0.35
2.3
0.35
10
0.55
1.1
7.4
1.1
100
1.8
3.5
23
3.5
For transmitters rated at a maximum output power not listed above, the recommended separation distance
d in meters (m) can be estimated using the equation applicable to the frequency of the transmitter, where P
is the maximum output power rating of the transmitter in watts (W) according to the transmitter
manufacturer.
NOTE 1: At 80 MHz, 460 MHz, 470 MHz, 690 MHz, 800 MHz, 965 MHz, and 1.39 GHz, the
separation distance for the higher frequency range applies.
NOTE 2: These guidelines may not apply in all situations. Electromagnetic propagation is affected by
absorption and reflection from structures, objects and people.
Essential Performance
The following items are the Essential Performance of the LUKE arm system.
The LUKE arm system:
262
•
is able to safely power on and off.
•
enters Standby mode at power on.
•
hand open button operates normally.
•
gross motor movements are slowed within the slowdown region.
•
low battery alert operates normally.
Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document -- Rev. 1.5
Download: 10112 Prosthetic Arm User Manual DEKA Arm User Guide.book Mobius Bionics LLC
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Document TitleDEKA Arm User Guide.book
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