A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.

An upper extremity prosthesis may include a prosthetic hand including a prosthetic thumb having a base and a tip, and a prosthetic index finger having a base and a tip. Actuators may be coupled to the upper extremity prosthesis. Prosthetic flexion tendons may have first ends operably coupled to the actuators and second ends coupled to the tips of the thumb and the index finger. Biasing systems may be operably coupled to the prosthetic thumb and the index finger. Upon actuation of the actuators in a first direction, the prosthetic flexion tendons cause the thumb and index finger to flex. Upon actuation of the linear actuators in a second direction opposite the first direction, the biasing systems cause the thumb and index finger to extend.

Various aspects of upper arm prosthetic system for a human subject having a body and a partial arm are described. According to one aspect, the system may comprise any one or more of a force amplification apparatus, a terminal unit apparatus, and/or an adjustable elbow apparatus. Each apparatus may be body-powered and/or comprise 3D printable structures. Related upper arm prosthetic apparatus, kits, methods, and systems also are described.

A method of placing a prosthetic system over a residual limb, said method comprising the steps of: providing the prosthetic system; and placing an outer shell of the prosthetic system on the residual limb having an above-knee amputation, the outer shell at least partially surrounds the residual limb, an outer side and an inner side of the outer shell on opposite sides of the residual limb, an upper edge of the outer side above a greater trochanter, the inner side below a lowest edge of an ischium without being directly below the lowest edge of the ischium.

A passive upper extremity prosthesis for enabling a user with a residual arm to play a cue sport includes a socket that is configured to position over and to couple to a residual arm of a user. A connector that is coupled to the socket is configured to selectively couple to a cue stick to couple the socket to the cue stick, positioning the user to manipulate the cue stick to play a cue sport, such as pool and billiards.

A control system for control of a prosthetic device having a plurality of actuators receives an orientation signal indicative of a desired movement. The control system evaluates whether the prosthetic device may move as desired with a current angle of rotation and commands at least one actuator to move the prosthetic device as desired by maintaining the current angle of rotation or by adjusting the angle of rotation if the prosthetic device cannot move as desired with the current angle. The control system may alternate between commanding a first subset of actuators and a second subset of actuators each time the orientation signal is indicative of a neutral position. The control system may include a position sensor and a compliance sensor and may command at least one actuator based on a combination of positional control using the position sensor and force control using the compliance sensor.

A prosthetic or orthotic device using at least one of measurements of residual limb length or circumference to define a prosthetic socket assembly configuration, comprising modular socket components fitted to the individual user's residual limb having a mounting point for an attachment, at least one compliant member attached to at least one stabilizing unit, and at least one second compliant member attached to at least one stabilizing unit wherein the first compliant member and the second compliant member work in cooperation with the stabilizing unit(s) to control bone position and support the limb within the interface.

An individual who has had a limb amputation and wears a prosthetic limb on an amputated residual limb may have a difficult time adjusting the prosthetic limb discreetly in a public setting. Described herein are articles of clothing, access opening systems, clothing cuffs, or devices for securing a prosthetic limb to a residual limb fitted with the prosthetic limb and for providing access to the prosthetic limb discreetly without removing a substantial portion of the clothing.

A control system for control of a prosthetic device having a plurality of actuators receives an orientation signal indicative of a desired movement. The control system evaluates whether the prosthetic device may move as desired with a current angle of rotation and commands at least one actuator to move the prosthetic device as desired by maintaining the current angle of rotation or by adjusting the angle of rotation if the prosthetic device cannot move as desired with the current angle. The control system may alternate between commanding a first subset of actuators and a second subset of actuators each time the orientation signal is indicative of a neutral position. The control system may include a position sensor and a compliance sensor and may command at least one actuator based on a combination of positional control using the position sensor and force control using the compliance sensor.

Low-cost prosthetic apparatus, methods, kits, and systems with improved force transfer elements are disclosed. For example, the prosthetic apparatus may comprise: a plurality of first components manufactured from a first material to define 3D shapes with exterior surfaces resembling digits of a human hand; and a plurality of second components manufactured from a second material to define 2D shapes that are rotatably engageable with the 3D shapes to define force transfer elements operable to close the digits around an object responsive to a pull force applied to the force transfer elements, wherein the first material is different from the second material. Methods for manufacturing and assembling prosthetic apparatus also are disclosed along with related kits and systems.