Exploring Stiffness Modulation in Prosthetic Hands and Its Perceived Function in Manipulation and Social Interaction

Frontiers in Neurorobotics
Patricia Capsi-MoralesGiorgio Grioli

Abstract

To physically interact with a rich variety of environments and to match situation-dependent requirements, humans adapt both the force and stiffness of their limbs. Reflecting this behavior in prostheses may promote a more natural and intuitive control and, consequently, improve prostheses acceptance in everyday life. This pilot study proposes a method to control a prosthetic robot hand and its impedance, and explores the utility of variable stiffness when performing activities of daily living and physical social interactions. The proposed method is capable of a simultaneous and proportional decoding of position and stiffness intentions from two surface electro-myographic sensors placed over a pair of antagonistic muscles. The feasibility of our approach is validated and compared to existing control modalities in a preliminary study involving one prosthesis user. The algorithm is implemented in a soft under-actuated prosthetic hand (SoftHand Pro). Then, we evaluate the usability of the proposed approach while executing a variety of tasks. Among these tasks, the user interacts with other 12 able-bodied subjects, whose experiences were also assessed. Several statistically significant aspects from the System Usability Scale indicat...Continue Reading

References

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Methods Mentioned

BETA
amputation
feature extraction
amputations

Software Mentioned

SoftHand Pro
SoftHand
LS
PVC
MATLAB Simulink
Simulink
Grasping

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