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Exploring Stiffness Modulation in Prosthetic Hands and Its Perceived Function in Manipulation and Social Interaction.

Patricia Capsi-Morales1,2, Cristina Piazza1, Manuel G Catalano2

  • 1Centro "E. Piaggio" and Dipartimento di Ingegneria dell'Informazione, University of Pisa, Pisa, Italy.

Frontiers in Neurorobotics
|July 17, 2020
PubMed
Summary

This study introduces a new method for controlling prosthetic hand stiffness using surface electromyography signals. Variable stiffness control enhances prosthesis usability and offers a more natural, human-like interaction for users and those they interact with.

Keywords:
human-robot social interactionimpedance controlprostheticssoft roboticstask adaptability

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Area of Science:

  • Robotics
  • Biomechanics
  • Human-Computer Interaction

Background:

  • Humans naturally adapt limb force and stiffness for environmental interaction.
  • Prosthetic limbs can improve user acceptance and daily function by mimicking this adaptability.
  • Current prosthetic control often lacks variable impedance, limiting natural interaction.

Purpose of the Study:

  • To propose and validate a novel method for controlling prosthetic hand impedance, specifically variable stiffness.
  • To explore the utility of this variable stiffness control in activities of daily living and social interactions.
  • To compare the proposed method against existing control strategies.

Main Methods:

  • Developed a simultaneous and proportional decoding method for position and stiffness intentions from surface electromyography (sEMG) signals.
  • Implemented the algorithm on a soft under-actuated prosthetic hand (SoftHand Pro).
  • Conducted a pilot study with one prosthesis user and assessed interactions with 12 able-bodied subjects.

Main Results:

  • The variable stiffness control was preferred by the prosthesis user over constant stiffness settings, showing improved reactivity and adaptability.
  • Able-bodied subjects favored softer interactions, perceiving them as more human-like and comfortable.
  • Statistically significant usability improvements were noted with variable stiffness control.

Conclusions:

  • Variable stiffness control in prosthetic hands offers a promising compromise between precise control and safe, comfortable interaction.
  • The proposed sEMG-based method demonstrates feasibility and user preference for adaptive prosthetic impedance.
  • Further investigation into variable stiffness control is warranted for advanced prosthetic applications.