Mobius Bionics LUKE Arm User manual

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
LUKE Arm
User Guide

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
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
About This Guide
How to Use This Guide ................................................................................ 11
Conventions ................................................................................................ 12
Terminology................................................................................................ 14
Acronyms ................................................................................................... 14
Contacting Technical Support....................................................................... 15
Chapter 1 LUKE Arm System
Indications for Use ....................................................................................... 17
LUKE Arm System ...................................................................................... 18
Arm Types ............................................................................................ 19
Shoulder Configuration (SC) .............................................................. 19
Humeral Configuration (HC).............................................................. 19
Radial Configuration (RC).................................................................. 19
Batteries and Holster .............................................................................. 21
Internal Battery ................................................................................ 21
External Battery ............................................................................... 22
External Battery Holster .................................................................... 22
Battery Chargers and Charging Dock....................................................... 23
Charging Pad................................................................................... 24
AC Adapter ..................................................................................... 24
Charging Dock................................................................................. 25
ACI (Arm Control Interface) Module......................................................... 26
Input and Output Control Devices............................................................ 27
IMUs (Inertial Measurement Units)...................................................... 27
EMG (Surface EMG Electrodes).......................................................... 27
Pressure Switches............................................................................. 28
Rocker Switches............................................................................... 28
Pressure Transducers ........................................................................ 29
Linear Transducers ........................................................................... 29
Tactor ............................................................................................. 30
Chapter 2 Safety
Safety Guidelines - Arm................................................................................ 31
Electromagnetic Interference (EMI) Safety....................................................... 34
Safety Guidelines - Battery............................................................................ 35

4Use 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
Chapter 3 Arm Types and User Controls
System Battery Types................................................................................... 38
User Controls and Wrist Display.................................................................... 38
Power ON/OFF Button Location............................................................. 39
Turning the Arm ON and OFF ................................................................ 40
Wrist Display ......................................................................................... 40
Low Battery Icon and Low Battery Alert ......................................... 41
System Fault Icon .......................................................................... 41
Arm Mode LED and Grip Select LEDs ............................................ 42
Display Button ................................................................................. 43
Displaying the Battery Charge Level................................................... 43
Changing the Display Brightness........................................................ 44
Swapping IMUs................................................................................ 44
IMU LED Status ..................................................................................... 45
Hand Open Button................................................................................. 47
Orienting The Arm While Pressing The Hand Open Button ................. 48
Chapter 4 Setting Up the Arm
Installing IMUs............................................................................................. 49
Installing the IMU to the Shoe Clip .......................................................... 50
Installing the Shoe Clip to Your Shoe....................................................... 52
Location and Orientation of the IMUs ...................................................... 53
Waking a Sleeping IMU................................................................................ 53
Donning (Putting On) the Arm ...................................................................... 54
Chapter 5 Using the Arm
Key Concepts.............................................................................................. 56
Switching vs. Motion .............................................................................. 56
Operating Modes ................................................................................... 57
IMU - Walk Detect.................................................................................. 58
IMU - Angle Limit Detect ........................................................................ 58
Mode Change Interlock........................................................................... 59
Zeroing the IMUs ................................................................................... 59
Safe Operation of the System ....................................................................... 60
What To Do If the Arm Is Not In Proper Working Order............................ 60
Arm Is Not in Proper Working Order ................................................. 60
Unsure When Using the Arm............................................................. 60
Grasp Release .................................................................................. 61
Doffing the Arm ............................................................................... 61
Safe Motions ......................................................................................... 62
Taking It Slow........................................................................................ 62
Practicing Safe Operation of the System .................................................. 63
Lifting Heavy Objects ............................................................................. 63
Initializing the Arm....................................................................................... 64
Re-Initializing the Arm.................................................................................. 65
Improper Shutdowns.................................................................................... 65

Contents
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
Operating Modes and Motions ...................................................................... 66
Standby Mode (No Motion) ..................................................................... 66
Hand Mode Motions............................................................................... 66
Opening or Closing the Hand............................................................ 67
Compound Wrist Motions ................................................................. 67
Rotating the Wrist ............................................................................ 69
Selecting a Grip ..................................................................................... 69
Power Grip (Grip Select LED 1)......................................................... 70
Tool Grip (Grip Select LED 2) ........................................................... 71
Fine Pinch Closed Grip (Grip Select LED 3) ........................................ 72
Fine Pinch Open Grip (Grip Select LED 4).......................................... 72
Lateral Pinch Grip (Grip Select LED 5) ............................................... 73
Chuck Grip (Grip Select LED 6)......................................................... 75
Grip Detents .................................................................................... 75
Arm Mode Motions ................................................................................ 75
SC Arm Motions .............................................................................. 76
Elbow Flexion - Extension (HC Arm) .................................................. 79
Humeral Internal - External Rotation (HC Arm) ................................... 80
Doffing (Removing) the Arm ......................................................................... 80
Chapter 6 Charging the Batteries
Battery Charging Safety ............................................................................... 82
Testing the Internal Battery Charge Level....................................................... 82
Charging the Internal Battery ........................................................................ 83
Testing the External Battery Charge Level...................................................... 85
Charging the External Battery ....................................................................... 86
Removing the External Battery from the Holster ................................. 88
Installing the External Battery in the Holster........................................ 88
Testing the IMU Battery Charge Level ........................................................... 89
Charging the IMU Battery............................................................................. 90
Chapter 7 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

6Use 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
Appendix A Technical Specifications
Arm Specifications..................................................................................... 107
Battery Specifications................................................................................. 112
AC Adapter Specifications.......................................................................... 113
Charging Pad Specifications........................................................................ 114
Arm Radio Specifications............................................................................ 115
Appendix B Guidance and Manufacturer’s Declaration
Electromagnetic Environment...................................................................... 117
Electromagnetic Emissions .................................................................... 117
Electromagnetic Immunity..................................................................... 118
Recommended Separation Distances ........................................................... 121
Essential Performance ................................................................................ 122

Contents
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
List of Figures
Figure 1. Arm Types ............................................................................ 20
Figure 2. Internal Battery ...................................................................... 21
Figure 3. External Battery ..................................................................... 22
Figure 4. External Battery Holster.......................................................... 23
Figure 5. Charging Pad for IMU Battery................................................. 24
Figure 6. AC Adapter........................................................................... 24
Figure 7. Charging Dock ...................................................................... 25
Figure 8. ACI Module ........................................................................... 26
Figure 9. Example Inertial Measurement Unit ......................................... 27
Figure 10. Example EMG ....................................................................... 27
Figure 11. Example Pressure Switch ........................................................ 28
Figure 12. Example Rocker Switch .......................................................... 28
Figure 13. Example Pressure Transducer ................................................. 29
Figure 14. Example Linear Transducer .................................................... 29
Figure 15. Example Tactor Output Device................................................ 30
Figure 16. Pinch Point Areas .................................................................. 34
Figure 17. Power Button and LED - SC, HC, and RC Arms With External
Battery Only .......................................................................... 39
Figure 18. Power Button and LED - SC and HC Arms with Internal Battery 40
Figure 19. Wrist Display ......................................................................... 41
Figure 20. Hand Open Button ................................................................ 47
Figure 21. Attaching the IMU to the Shoe Clip......................................... 51
Figure 22. Attaching the Shoe Clip to the Shoe........................................ 52
Figure 23. Hand Open Button ................................................................ 61
Figure 24. Hand Open and Hand Closed ................................................. 67
Figure 25. Compound Wrist Motions ....................................................... 68
Figure 26. Rotating the Wrist .................................................................. 69
Figure 27. Power Grip............................................................................ 70
Figure 28. Tool Grip .............................................................................. 71
Figure 29. Fine Pinch Closed Grip........................................................... 72
Figure 30. Fine Pinch Open Grip ............................................................ 72
Figure 31. Lateral Pinch Grips ................................................................ 74
Figure 32. Chuck Grip............................................................................ 75
Figure 33. Moving the Hand Up or Down ................................................ 77
Figure 34. Moving the Hand Left or Right................................................ 77
Figure 35. Moving the Hand Forward or Backward................................... 78
Figure 36. Voluntary Elbow Positioning (VEP) .......................................... 79
Figure 37. Elbow Flexion - Extension ....................................................... 79
Figure 38. Humeral Internal - External Rotation........................................ 80
Figure 39. Internal Battery Charging Port and Status Icon ......................... 84
Figure 40. Testing the External Battery Charge Level................................ 85
Figure 41. External Battery Charging Dock and Status LEDs ..................... 87
Figure 42. Removing and Replacing the External Battery .......................... 89
Figure 43. Charging the IMU Battery....................................................... 90
Figure 44. Lateral Pinch Grip - Fully Open ............................................... 94
Figure 45. Removing and Replacing the Fingernails .................................. 96

8Use 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
Figure 46. Lace - Securing Hand Cover ................................................... 97
Figure 47. Removing and Replacing the Finger and Hand Covers .............. 98
Figure 48. Dimensions of Shoulder Configuration (In Centimeters) ........... 110
Figure 49. Dimensions of Humeral Configuration (In Centimeters)............ 111
Figure 50. Dimensions of Radial Configuration (In Centimeters) ............... 111

Contents
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 9
List of Tables
Table 1. Arm System Icons ................................................................. 12
Table 2. Text Conventions.................................................................. 13
Table 3. Terminology ......................................................................... 14
Table 4. Acronyms............................................................................. 14
Table 5. Arm and Battery Types ......................................................... 38
Table 6. Arm Mode and Grip Select LEDs............................................ 42
Table 7. Wrist Display Battery Charge Levels ....................................... 43
Table 8. IMU LED Status.................................................................... 45
Table 9. Control Types - Switching vs. Motion ..................................... 56
Table 10. Arm and Operating Modes..................................................... 57
Table 11. Hand Mode — Motions ......................................................... 66
Table 12. Grip Select LEDs .................................................................. 69
Table 13. Arm Mode — Motions........................................................... 76
Table 14. Internal Battery Charging Port and Status Icon ........................ 84
Table 15. External Battery Charge Level................................................ 86
Table 16. External Battery Charging Dock Status LEDs........................... 87
Table 17. IMU Battery Charging LED Status .......................................... 91
Table 18. Troubleshooting - Try This First............................................ 101
Table 19. Troubleshooting - Wrist Display and System Faults................. 102
Table 20. Troubleshooting - Arm Function........................................... 104
Table 21. Troubleshooting - Power and Battery Charging...................... 105
Table 22. Arm System Specifications................................................... 107
Table 23. Operating Environmental Range........................................... 107
Table 24. Transport and Storage Environmental Range......................... 108
Table 25. Service Life Specifications.................................................... 108
Table 26. Mass of Arm Configurations................................................. 109
Table 27. Dimensions of Arm Configurations ....................................... 109
Table 28. Battery Charge and Operation Times.................................... 112
Table 29. Power Specifications - Internal Battery .................................. 112
Table 30. Power Specifications - External Battery ................................. 112
Table 31. Power Specifications - IMU Battery....................................... 113
Table 32. AC Adapter Specifications ................................................... 113
Table 33. Charging Pad Specifications................................................. 114
Table 34. Arm Radio Specifications..................................................... 115
Table 35. Guidance and Manufacturer’s Declaration -
Electromagnetic Emissions ................................................... 117
Table 36. Guidance and Manufacturer’s Declaration -
Electromagnetic Immunity.................................................... 118
Table 37. Recommended Separation Distances (Part I) .......................... 121
Table 38. Recommended Separation Distances (Part II) ......................... 122

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
Contents