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Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
Published on: October 27, 2023
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Prosthetic design directives: Low-cost hands within reach.
Summary
This study introduces the Touch Hand II, a low-cost 3D-printed prosthetic hand. Sensorless techniques and a finite state machine enable affordable, functional upper limb prosthetics for developing countries.
Area of Science:
- Biomedical Engineering
- Rehabilitation Technology
- Prosthetics Design
Background:
- Millions worldwide lack upper limbs, disproportionately in developing nations.
- High cost of advanced prosthetics limits accessibility.
- Emerging technologies like 3D printing offer potential for low-cost solutions.
Purpose of the Study:
- To present the electronic and control design of the Touch Hand II, a low-cost prosthetic hand.
- To explore sensorless techniques for reduced complexity and cost.
- To develop a functional prosthetic hand for individuals in developing countries.
Main Methods:
- Utilized sensorless techniques to simplify electronics and reduce costs.
- Developed a closing and opening finite state machine (COFSM) for joint control.
- Implemented a supervisory switching control scheme for grip speed and strength.
Main Results:
- The prosthetic hand successfully replicated ten common grasps.
- Demonstrated the ability to grip everyday objects.
- Achieved preset torque and speed settings for specific grasp types.
Conclusions:
- Sensorless techniques are viable for low-cost prosthetic design.
- The Touch Hand II offers a practical, affordable solution for upper limb prosthetics.
- Future work includes myoelectric signal control and addressing electromagnetic interference.
