Design and experiment of a modular multisensory hand for prosthetic applications

Zeng, Bo; Fan, Shaowei; Jiang, Li; Liu, Hong

doi:10.1108/ir-04-2016-0115

Cited by 18 publications

(10 citation statements)

References 28 publications

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“…These sensors mainly provide signals for the transmission and self-locking of the mechanical structure, which cannot detect signals such as an external touch . Currently, the external sensors for this prosthetic hand are mainly focused on the design and application of the bionic fingertip tactile sensors. , The principle is the piezoresistive effect with QTC and CSA materials. These sensors can realize the rapid measurement of normal force or shear force.…”

Section: Introductionmentioning

confidence: 99%

Capacitive Sensor Combining Proximity and Pressure Sensing for Accurate Grasping of a Prosthetic Hand

Yang

et al. 2022

ACS Appl. Electron. Mater.

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Intelligent control of a prosthetic hand is the core to realize accurate grasping. The traditional sensors inside the hand or finger can only give indirect information regarding the events occurring at the interface of the finger tip and objects, which may cause misjudgment in grasping. Herein, we design a capacitive sensor with the capability of both proximity and force detection for the prosthetic hand (HIT-V). The sensor is composed of a pair of ring-circle copper foils as electrodes, in which is the dielectric layer with a pyramid microstructure. As a result, the sensor can detect an object approaching from as far as 100 mm and contact forces up to 12 N, which, respectively, denote the finger operation space and maximum force load of the prosthetic hand. Furthermore, the proposed sensor exhibited excellent stability, mechanical flexibility, and deformability. Finally, capacitive sensors are used for grasping control on the prosthetic hand, which exhibit the abilities of stopping an approaching process and tracking a step force. The abovementioned performance shows the sensor’s potential ability to achieve complex control on prosthetic hands.

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Section: Introductionmentioning

confidence: 99%

Capacitive Sensor Combining Proximity and Pressure Sensing for Accurate Grasping of a Prosthetic Hand

Yang

et al. 2022

ACS Appl. Electron. Mater.

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“…To achieve stable and flexible manipulation of the six prehensile grasp motion patterns, position-tracking impedance control for the free-space motion and force-tracking impedance control for the constraint motion (Zeng et al , 2017) are combined in the LLC. The workflow of the LLC is shown in Figure 4.…”

Section: Methodsmentioning

confidence: 99%

A novel hybrid closed-loop control approach for dexterous prosthetic hand based on myoelectric control and electrical stimulation

Jiang

Huang

Yang

et al. 2018

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Purpose The purpose of this study is to present a novel hybrid closed-loop control method together with its performance validation for the dexterous prosthetic hand. Design/methodology/approach The hybrid closed-loop control is composed of a high-level closed-loop control with the user in the closed loop and a low-level closed-loop control for the direct robot motion control. The authors construct the high-level control loop by using electromyography (EMG)-based human motion intent decoding and electrical stimulation (ES)-based sensory feedback. The human motion intent is decoded by a finite state machine, which can achieve both the patterned motion control and the proportional force control. The sensory feedback is in the form of transcutaneous electrical nerve stimulation (TENS) with spatial-frequency modulation. To suppress the TENS interfering noise, the authors propose biphasic TENS to concentrate the stimulation current and the variable step-size least mean square adaptive filter to cancel the noise. Eight subjects participated in the validation experiments, including pattern selection and egg grasping tasks, to investigate the feasibility of the hybrid closed-loop control in clinical use. Findings The proposed noise cancellation method largely reduces the ES noise artifacts in the EMG electrodes by 18.5 dB on average. Compared with the open-loop control, the proposed hybrid closed-loop control method significantly improves both the pattern selection efficiency and the egg grasping success rate, both in blind operating scenarios (improved by 1.86 s, p < 0.001, and 63.7 per cent, p < 0.001) or in common operating scenarios (improved by 0.49 s, p = 0.008, and 41.3 per cent, p < 0.001). Practical implications The proposed hybrid closed-loop control method can be implemented on a prosthetic hand to improve the operation efficiency and accuracy for fragile objects such as eggs. Originality/value The primary contribution is the proposal of the hybrid closed-loop control, the spatial-frequency modulation method for the sensory feedback and the noise cancellation method for the integrating of the myoelectric control and the ES-based sensory feedback.

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“…A previously developed multi-fingered prosthetic hand, HIT-V [23], was served as the platform to verify our algorithm. The mechanical structure of the index finger is presented in Fig.…”

Section: A Test Platformmentioning

confidence: 99%

A Multi-Threshold-Based Force Regulation Policy for Prosthetic Hand Preventing Slippage

Yang

2021

IEEE Access

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Design and experiment of a modular multisensory hand for prosthetic applications

Cited by 18 publications

References 28 publications

Capacitive Sensor Combining Proximity and Pressure Sensing for Accurate Grasping of a Prosthetic Hand

Capacitive Sensor Combining Proximity and Pressure Sensing for Accurate Grasping of a Prosthetic Hand

A novel hybrid closed-loop control approach for dexterous prosthetic hand based on myoelectric control and electrical stimulation

A Multi-Threshold-Based Force Regulation Policy for Prosthetic Hand Preventing Slippage

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