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Design, Implementation, and Evaluation of a Variable Stiffness Transradial Hand Prosthesis.

Elif Hocaoglu1,2, Volkan Patoglu1

  • 1Faculty of Engineering and Natural Sciences, Sabancı University, Istanbul, Turkey.

Frontiers in Neurorobotics
|April 1, 2022
PubMed
Summary

This study introduces a low-cost, adaptable transradial hand prosthesis with variable stiffness. Its design allows for natural grasping and high dexterity, controlled via a natural human-machine interface.

Keywords:
impedance modulationtele-impedance controltransradial hand prosthesisunderactuated robotic hand designvariable stiffness actuation

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Prosthetics

Background:

  • Transradial amputations require advanced prosthetic solutions.
  • Existing prostheses often lack adaptability and variable compliance.
  • Need for cost-effective, user-friendly prosthetic hands.

Purpose of the Study:

  • To design and evaluate a low-cost, customizable transradial hand prosthesis.
  • To implement variable stiffness actuation (VSA) for adaptive grasping.
  • To develop a natural human-machine interface for prosthesis control.

Main Methods:

  • Utilized antagonistic tendons with nonlinear springs for VSA.
  • Employed Bowden cable power transmission for a lightweight design.
  • Integrated underactuated compliant fingers for adaptive shape conforming.
  • Implemented surface electromyography (sEMG) for control.

Main Results:

  • Achieved variable stiffness and position control of the prosthetic hand.
  • Demonstrated natural shape adaptation for grasping diverse objects.
  • Showcased inherent robustness and flexibility of compliant fingers.
  • Validated sEMG-based control for natural human-machine interaction.

Conclusions:

  • The developed transradial hand prosthesis offers a low-cost, adaptable solution.
  • VSA and compliant fingers enhance grasping capabilities and dexterity.
  • sEMG control provides intuitive operation for users.