Multi-modal prosthetic fingertip sensor with proximity, contact, and force localization capabilities

Abstract

The lack of sensory feedback provided by prosthetic hands dramatically limits the utility of the device. Peripheral nerve interfaces are now able to produce stable somatosensory percepts for upper limb amputees. Sensors must be able to detect forces across the fingers of the prosthesis in a repeatable and reliable fashion. We solved this concern with a novel multi-modal tactile sensor which consists of an infrared proximity sensor and a barometric pressure sensor embedded in an elastomer layer with potential use in prosthetic devices. Signals from both sensors measure proximity (0-10 mm), contact (0 N), and force (0-50 N) and are combined to localize impact at five spatial locations and three angles of incidence. Here, we describe the sensor design, its characterization, and data analysis. We use Gaussian process regression to fuse the signals from both sensors to obtain calibrated force in Newton with an R 2 value of 0.99. We use supervised learning to localize probe position and direction with classification accuracies of 96% and 89%, respectively. The complementary nature of both sensors leads to several sensing modalities that no one sensor can provide on its own and the repeatable, reliable, and compact form of the sensor enables use in multi-functional prosthetic hands.

Combination of Simultaneous Artificial Sensory Percepts to Identify Prosthetic Hand Postures: A Case Study

“…A TASKA prosthetic hand (TASKA Prosthetics, Inc.) with custom fingertip sensors 65 (Fig. 1A) was commanded into various postures to provide visual feedback using a custom LabView (National Instruments, Inc.) interface.…”

Soft Robotic Hands and Tactile Sensors for Underwater Robotics

“…The combined sensor fusion is able to recognize five impact locations at three different angles of incidence. This multi-modal sensor bio-mimics somatosensory perception and is used in conjunction with peripheral nerve interfaces for prosthesis use [149]. Additionally, Kampmann et al presented a three-fingered robot gripper equipped with a multi-modal tactile sensor integrated with optical sensors, strain gauge sensors, and piezoelectric sensors.…”

A Prosthetic Hand with Integrated Sensing Elements for Selective Detection of Mechanical and Thermal Stimuli

“…Sensors integrated into prosthetics can significantly improve the efficiency of performing tasks. [1][2][3][4][5][6] While sensors developed for prosthetics usually target motion detection and proprioception capabilities, [7][8][9] sensing temperature is an additional essential sensory ability of the human skin. Especially detecting critically high levels of temperature that could potentially harm the prosthetic device is useful for long-term use.…”