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

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 r11
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.
How to Use This Guide
To learn about the arm and how to use the arm read the chapters in the table
below.
This guide is shipped with the LUKE arm system.
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.

12 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
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 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.

Conventions
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 12/5/1613
Table 2. Text Conventions
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.
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
Icon Meaning Description

14 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
About This Guide
Terminology
Table 3 describes the terminology used in this guide to describe the arm, socket,
and accessories.
Acronyms
Table 4 lists the acronyms used in this guide.
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.
Table 4. Acronyms
Acronym 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.

Contacting Technical Support
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 12/5/1615
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)

16 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
About This Guide

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 r17
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).

18 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
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.
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.
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.
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.

LUKE Arm System
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 12/5/1619
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.

20 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
Chapter 1: LUKE Arm System
Figure 1. Arm Types
Shoulder Configuration (SC)
Humeral Configuration (HC)
Radial Configuration (RC)