Design of a cybernetic hand for perception and action

Area of Science:

• Biomedical Engineering
• Robotics
• Neuroscience

Background:

• Amputees often reject prosthetic hands due to poor functionality, control, and aesthetics.
• Existing prosthetics lack the dexterity and sensory feedback of natural human hands.

Purpose of the Study:

• To design and present the CyberHand, a cybernetic prosthetic hand offering improved functionality and user control.
• To bio-inspire the prosthetic's design, including its mechanics, sensory systems, and control architecture.

Main Methods:

• Developed a bio-inspired, modular prosthetic hand with underactuated mechanisms for individual digit control.
• Integrated a sensory system mimicking human tactile mechanoreceptors for grasp-and-hold tasks.
• Implemented a two-layer control system (high-level for user intention, low-level for actuation) with limited afferent/efferent channels.

Main Results:

• The CyberHand's design allows for separate digit control, thumb-finger opposition, and diverse grasp generation.
• The sensory system provides proprioceptive information and emulates key tactile feedback for functional tasks.
• The control system enables intuitive grasp selection and force application, supporting activities of daily living.

Conclusions:

• The CyberHand offers a promising solution for functional hand replacement in amputees, addressing key limitations of current prosthetics.
• Its modular and flexible design facilitates further development in sensorization, interfacing, and control strategies.
• The CyberHand serves as a valuable tool for clinical research and investigating neuroscientific hypotheses on sensorimotor control.