Page 191 - Handbook of Biomechatronics

188 Georgios A. Bertos and Evangelos G. Papadopoulos

position servo mechanism. That is, there is a “1-1” mapping between the
force, velocity, and position of the control site and the prosthesis.

Cineplasty
As mentioned before, one way of achieving EPP is through means of a
harness (see Section 1.4.1). Another way is to create, by means of surgical
procedures, direct anchorage sites at the muscle, tendon, or skin of the stump
and connect these sites with a Bowden cable to provide a mechanical linkage
between the amputee and the prosthesis. Both ways: the harness or the
surgical procedures, if used appropriately can provide EPP and its advan-
tages. Both can be used in body-powered topologies or externally powered
prostheses. The externally powered prostheses are used when the muscular
power of the amputee is not sufficient to provide the necessary energy for
his/her daily activities.
Klopsteg and Wilson (1954) argued that it was logical to power an arti-
ficial hand or hook by means of voluntary contraction of residuals muscles
(cineplasty) rather than by gross body movements like the characteristic
shoulder shrug or arm thrust (harness).
The strict definition of cineplasty is any type of surgical procedure which
produces some function out of an amputated extremity other than the move-
ment of the extremity itself (Spittler and Fletcher, 1953). Cinematoplasy,
kineplasty, cinematization, and cinetization are among the terms used that
have the same meaning. The basic idea is that with cineplastic control sites
and the attachment to them of a Bowden cable, EPP can be achieved.
A “1-1” mapping of position, velocity, and force is shown in Fig. 6.
An Italian from Florence, Giuliano Vanghetti in 1898 (Vanghetti, 1898,
1899a,b, 1900) is generally credited with being the first person to try the idea
of using the residual arm muscles to command a prosthesis (Tropea et al.,
2017). It is said that Vanghetti conceived his idea following observations
of the Italian-Abyssinian War (1896–98), where Abyssinians had cut the
right hand at the wrist and the left foot of 800 Italians for punishment.
Vanghetti noted that that the forearm muscles in these amputees remained
intact and functional. It was from this observation that he conceived of a
cineplastic operation to use these intact muscles as the control force for acti-
vating the cosmetic prostheses of that time. Vanghetti published 52 ways of
connecting muscles and tendons with the prosthesis (Tropea et al., 2017). In
1900, the team of Ceci, Vanghetti, and Redini performed the first
cineplastic operation and fitting with a prosthesis (Vanghetti, 1906). They
made a skin-lined tendon “loop” motor, using the biceps and triceps.
Putti (1917), as professor of orthopedics at Bologna performed a number