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Mostly we used soft, wide restraints that were velcro type. Most of the time, they worked pretty well, however, you must be constantly aware that "bridging" is possible and the restraints can be released. Think about the ROM of the limbs and how can you limit their ROM... soft restraints around the ankles works, but a seatbelt just above the knees that's fairly tight can limit the amount of thrashing that can be done. A shoulder harness/lap belt can be buckled and tightened just enough to prevent "bridging" but you also must prevent the ability for the patient to really get going... so gain control of the elbows too. You don't need tight, just enough to control where the forearms can go and help increase the effectiveness of the wrist restraints. And ALWAYS secure your restraints to the frame. The rails aren't strong enough to handle the stress and strain of someone who is really, really combative with you.
Biomechanics knowledge and perhaps a bit of knowledge of Aikido or Judo can help with the concepts.
Always keep a calm, firm, yet gentle voice...
And never, ever leave the patient unmonitored. Not for an instant.
Hard restraints (handcuffs) must have a key close at hand AND when secured correctly, do not allow much movement, do not cut off circulation, and can prevent escape. For those patients that might be able to get their hands small enough to fit through the cuffs, you want to prevent any ROM that would allow them to pull against the cuff to allow the hands to slip out. Dangerous patients those ones can be...
The only patients I've ever had to have restrained in hard restraints were prisoners. High Security Prisoners at that and those always came with escorts...
Biomechanics knowledge and perhaps a bit of knowledge of Aikido or Judo can help with the concepts.

Always keep a calm, firm, yet gentle voice...
And never, ever leave the patient unmonitored. Not for an instant.
Hard restraints (handcuffs) must have a key close at hand AND when secured correctly, do not allow much movement, do not cut off circulation, and can prevent escape. For those patients that might be able to get their hands small enough to fit through the cuffs, you want to prevent any ROM that would allow them to pull against the cuff to allow the hands to slip out. Dangerous patients those ones can be...
The only patients I've ever had to have restrained in hard restraints were prisoners. High Security Prisoners at that and those always came with escorts...