Open-source, low-cost, compliant, modular, underactuated fingers: towards affordable prostheses for partial hand...

Area of Science:

• Robotics and Biomechanics
• Biomedical Engineering
• Prosthetics Design

Background:

• Partial hand amputations present significant challenges for individuals requiring functional restoration.
• Existing prosthetic solutions can be costly, lack modularity, or fail to provide intuitive control.
• Need for affordable, adaptable, and user-friendly robotic prostheses derived from human hand anthropometry.

Purpose of the Study:

• To present design directions for affordable, compliant, modular, and underactuated robot fingers.
• To enable amputees to develop personalized, lightweight, and efficient prosthetic hands.
• To explore diverse control interfaces tailored to different amputation levels and user preferences.

Main Methods:

• Development of parametric models based on extensive hand anthropometry studies.
• Integration of three distinct control interfaces: Electromyography (EMG), flex sensors, and body-powered systems.
• Focus on synergistic behavior prediction using intact finger motion for intuitive prosthesis control.

Main Results:

• Established design principles for creating affordable and modular underactuated robotic fingers.
• Demonstrated feasibility of multiple control strategies (EMG, flex sensors, body-powered) for diverse amputation types.
• Parametric models facilitate replication and personalization of prosthetic devices by end-users.

Conclusions:

• The proposed design directions offer a pathway to personalized, cost-effective robotic finger prostheses.
• Underactuated designs combined with adaptable interfaces enhance functionality and user experience for amputees.
• Empowers amputees with the ability to create and customize their own lightweight, efficient prosthetic solutions.