Abstract
This work presents the translation from a humanoid robotic hand to a prosthetic prototype and its first evaluation in a set of 9 persons with amputation. The Pisa/IIT SoftHand is an underactuated hand built on the neuroscientific principle of motor synergies enabling it to perform natural, human-like movements and mold around grasped objects with minimal control input. These features motivated the development of the SoftHand Pro, a prosthetic version of the SoftHand built to interface with a prosthetic socket. The results of the preliminary testing of the SoftHand Pro showed it to be a highly functional design with an intuitive control system. Present results warrant further testing to develop the SoftHand Pro.
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Acknowledgments
Financial support was provided by the Grainger Foundation, National Institutes of Health NICHD grant R21HD081938-01, by the European Research Council under the Advanced Grant SoftHands “A Theory of Soft Synergies for a New Generation of Artificial Hands” no. ERC-291166, and by the European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement “SoftPro,” No. 688857.
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Godfrey, S.B. et al. (2017). The SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype. In: Ibáñez, J., González-Vargas, J., Azorín, J., Akay, M., Pons, J. (eds) Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-319-46669-9_78
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DOI: https://doi.org/10.1007/978-3-319-46669-9_78
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