Abstract
State of art of modern hand prosthesis is populated by sophisticate hi-tech poly-articular hands which usually offer a broader set of movement capabilities, with the possibility to control up to 4 or 5 motors and achieve several different postures. Unfortunately these device are not so easy to control. A novel emerging trend is oriented towards a strong simplification of the mechanical design (through i.e. underactuation mechanisms), but still maintaining a good level of performance. A successful example is the SoftHand2 Pro, a 19 Degrees of Freedom (DoF) anthropomorphic hand which, using two motors, can move along two different synergistic directions, to perform either power grasp, precision grasp and index point. The combination of this multi-synergistic prosthetic hand with advanced controls, as myoelectric pattern recognition algorithms, allows to get promising results toward a more natural and intuitive control, introducing novel features as the possibility of a continuous switch between gestures. Preliminary experimental results are presented, demonstrating the effectiveness of the idea.
This work is supported by the European Commission project SOFTPRO (H2020 no. 688857).
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Acknowledgment
The authors want to thank Annie Simon, Kristi Turner and Laura Miller for their really valuable assistance with the experiments and Giorgio Grioli, Cosimo Della Santina for their support in the development of the prototype.
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Piazza, C., Catalano, M.G., Bicchi, A., Hargrove, L.J. (2019). Preliminary Results Toward Continuous and Proportional Control of a Multi-synergistic Soft Prosthetic Hand. In: Masia, L., Micera, S., Akay, M., Pons, J. (eds) Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018. Biosystems & Biorobotics, vol 21. Springer, Cham. https://doi.org/10.1007/978-3-030-01845-0_15
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DOI: https://doi.org/10.1007/978-3-030-01845-0_15
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