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Grasp and force based taxonomy of split-hook prosthetic terminal devices

In this paper, we analyze the use of the body-powered split-hook prosthetic terminal device, which is the most commonly used upper-limb prosthesis. We developed two taxonomies of split-hook use, one on grasp shape and one on force exertion, illustrating the functional capabilities and use cases of the device. Video captured from an amputee using a body-powered split-hook during a number of common activities was used to lend weight to the completeness of the classifications. These taxonomies serve to establish a common language and means of comparing the types of grasps achievable by simple terminal devices to those of advanced myoelectric terminal devices or even human hands. The first taxonomy categorizes the grasp type based on the contacts with the environment while the second is categorized by the method and limitation of force exertion. We discuss the difference between grasps capable of holding objects compared to those that are capable of acquiring objects and the importance of non-prehensile uses of the split-hook. The classification schemes lay the groundwork for further detailed study of split-hook use, and the discussion of the use cases described may help guide terminal device developers to create improved prostheses.