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Grasp Performance of a Soft Synergy-Based Prosthetic Hand: A Pilot Study
Summary
The novel SoftHand Pro (SHP) combines soft robotics and muscle signals for prosthetic control. While initial use was slower, the SHP demonstrated improved grasp-lift-hold-release task performance, showing promise for prosthetic hand applications.
Area of Science:
- Biomedical Engineering
- Robotics
- Neuroscience
Background:
- Current prosthetic hands face limitations in functionality and versatility, leading to frequent rejection.
- Soft robotics and hand postural synergies offer potential for improved prosthetic hand design.
Purpose of the Study:
- To assess the feasibility of the SoftHand Pro (SHP), a novel prosthetic hand integrating soft robotics and postural synergies.
- To evaluate the SHP's performance in a grasp-lift-hold-release task using electromyographic (EMG) control.
Main Methods:
- Able-bodied subjects controlled the SHP using EMG signals from two antagonistic muscles.
- Performance was evaluated through cursor tracking and a grasp-lift-hold-release task with a sensorized object of variable weight.
Main Results:
- Initial grasp-lift-hold-release task completion time was longer with the SHP compared to the native hand, but improved significantly with practice.
- The SHP demonstrated significant modulation of steady-state grip force relative to object weight.
- Native hand grip force modulation was greater than the SHP, mediated by EMG amplitude and co-contraction.
Conclusions:
- The SoftHand Pro shows promise for prosthetic applications, with potential for design modifications to enhance performance.
- The study highlights the integration of soft robotics and EMG control for functional prosthetic hands.
