Design and Exploration of Feedforward Haptic Feedback in Anthropomorphically-Driven Prostheses

Here, we present a wearable, anthropomorphically-driven prosthesis with a built-in haptic feedback system. The device was designed and built to accommodate specific design parameters. Two control schemes were proposed and compared in a user study with N=6 able-bodied participants performing the Box and Blocks test. The first control scheme was designed to provide an intuitive, human-like actuation and relaxation of the hand, while the other controller was designed to reduce fatigue from sustaining EMG signals. Participants performed significantly better with lower fatigue levels while using the intuitive controller as opposed to the second controller. In addition, task performance with both controllers was better than reported performance with standard myoelectric prostheses. In addition, a second experiment compared the unilateral manual dexterity of N=3 able-bodied participants under three distinct conditions: vibration haptic feedback, skin stretch haptic feedback, and no haptic feedback. These findings suggest that there is utility in wearable anthropomorphically-driven prostheses, and provide support for future studies aimed at exploring anthropomorphically-driven prostheses

Biomechanical Design of an Anthropomorphic Prosthetic Hand

The anatomical structure of the hand and its parts; muscles, tendons, bones, and ligaments give the hand its dexterous capabilities in a very efficient way. Studying these structures is important for adapting anthropomorphic features in prosthetic devices. Giving the anthropomorphic features to a prosthetic hand increases the complexity of the mechanical design; therefore, the control of the system. However, we can simplify the mechanical structure of the hand, but still keep the essential functions of the hand with advances in technology. With this motivation, the current study achieves a design for an anthropomorphic hand that imitates a natural hand, taking into account the essential anatomical and functional features. © 2018 IEEE