Preliminary results toward continuous and proportional control of a multi-synergistic soft prosthetic hand

Cristina Piazza*, Manuel G. Catalano, Antonio Bicchi, Levi J. Hargrove

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

State of art of modern hand prosthesis is populated by sophisticate hi-tech poly-articular hands which usually offer a broader set of movement capabilities, with the possibility to control up to 4 or 5 motors and achieve several different postures. Unfortunately these device are not so easy to control. A novel emerging trend is oriented towards a strong simplification of the mechanical design (through i.e. underactuation mechanisms), but still maintaining a good level of performance. A successful example is the SoftHand2 Pro, a 19 Degrees of Freedom (DoF) anthropomorphic hand which, using two motors, can move along two different synergistic directions, to perform either power grasp, precision grasp and index point. The combination of this multi-synergistic prosthetic hand with advanced controls, as myoelectric pattern recognition algorithms, allows to get promising results toward a more natural and intuitive control, introducing novel features as the possibility of a continuous switch between gestures. Preliminary experimental results are presented, demonstrating the effectiveness of the idea.

Original languageEnglish (US)
Title of host publicationBiosystems and Biorobotics
PublisherSpringer International Publishing
Pages77-81
Number of pages5
DOIs
StatePublished - Jan 1 2019

Publication series

NameBiosystems and Biorobotics
Volume21
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

ASJC Scopus subject areas

  • Biomedical Engineering
  • Mechanical Engineering
  • Artificial Intelligence

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    Piazza, C., Catalano, M. G., Bicchi, A., & Hargrove, L. J. (2019). Preliminary results toward continuous and proportional control of a multi-synergistic soft prosthetic hand. In Biosystems and Biorobotics (pp. 77-81). (Biosystems and Biorobotics; Vol. 21). Springer International Publishing. https://doi.org/10.1007/978-3-030-01845-0_15