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A 3D printed soft prosthetic hand with embedded actuation and soft sensing capabilities for directly and seamlessly switching between various hand gestures

Conference Paper


Abstract


  • In this study, a 3D printed soft robotic hand with embedded soft sensors is designed and developed to efficiently operate with new-generation myoelectric control systems, e.g., pattern recognition control (PRC) and simultaneous proportional control (SPC). The whole hand (ACES-V2) is fabricated as a monolithic structure using a low-cost and open-source 3D printer and it requires minimal post-processing for the addition of its embedded sensors. These are significant benefits for a medical device that is required to be lightweight and anthropomorphic. With the addition of position sensors, the avoidance of self-collision is obtained without returning the prosthetic hand to its neutral fully-opening position when it is commanded to switch between different gestures. This can make the transition between the hand gestures much faster, more efficient, and more intuitive as well. Further, initial contact detection of each finger is achieved for preshaping of multi-finger grasps, e.g., tripod grip and power grasps, to improve the stability of the grasps consequently.

Publication Date


  • 2021

Citation


  • Zhou, H., Tawk, C., & Alici, G. (2021). A 3D printed soft prosthetic hand with embedded actuation and soft sensing capabilities for directly and seamlessly switching between various hand gestures. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Vol. 2021-July (pp. 75-80). doi:10.1109/AIM46487.2021.9517388

Scopus Eid


  • 2-s2.0-85114961104

Web Of Science Accession Number


Start Page


  • 75

End Page


  • 80

Volume


  • 2021-July

Abstract


  • In this study, a 3D printed soft robotic hand with embedded soft sensors is designed and developed to efficiently operate with new-generation myoelectric control systems, e.g., pattern recognition control (PRC) and simultaneous proportional control (SPC). The whole hand (ACES-V2) is fabricated as a monolithic structure using a low-cost and open-source 3D printer and it requires minimal post-processing for the addition of its embedded sensors. These are significant benefits for a medical device that is required to be lightweight and anthropomorphic. With the addition of position sensors, the avoidance of self-collision is obtained without returning the prosthetic hand to its neutral fully-opening position when it is commanded to switch between different gestures. This can make the transition between the hand gestures much faster, more efficient, and more intuitive as well. Further, initial contact detection of each finger is achieved for preshaping of multi-finger grasps, e.g., tripod grip and power grasps, to improve the stability of the grasps consequently.

Publication Date


  • 2021

Citation


  • Zhou, H., Tawk, C., & Alici, G. (2021). A 3D printed soft prosthetic hand with embedded actuation and soft sensing capabilities for directly and seamlessly switching between various hand gestures. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Vol. 2021-July (pp. 75-80). doi:10.1109/AIM46487.2021.9517388

Scopus Eid


  • 2-s2.0-85114961104

Web Of Science Accession Number


Start Page


  • 75

End Page


  • 80

Volume


  • 2021-July