Design, Implementation, and Evaluation of a Variable Stiffness Transradial Hand Prosthesis

@article{Hocaolu2022DesignIA,
  title={Design, Implementation, and Evaluation of a Variable Stiffness Transradial Hand Prosthesis},
  author={Elif Hocaoğlu and Volkan Patoglu},
  journal={Frontiers in Neurorobotics},
  year={2022},
  volume={16}
}
We present the design, implementation, and experimental evaluation of a low-cost, customizable, easy-to-use transradial hand prosthesis capable of adapting its compliance. Variable stiffness actuation (VSA) of the prosthesis is based on antagonistically arranged tendons coupled to nonlinear springs driven through a Bowden cable based power transmission. Bowden cable based antagonistic VSA can, not only regulate the stiffness and the position of the prosthetic hand but also enables a light… 

sEMG-Based Natural Control Interface for a Variable Stiffness Transradial Hand Prosthesis

TLDR
The proposed approach is advantageous, since the impedance regulation takes place naturally without requiring amputees' attention and diminishing their functional capability, and the proposed interface is easy to use, does not require long training periods or interferes with the control of intact body segments.

A Cable-actuated Prosthetic Emulator for Transradial Amputees

TLDR
A prosthetic emulator for transradial (below elbow) prosthesis to identify the optimal design and control of the user and the detailed design of the prosthetic arm and the performance of the system is presented.

Design of a Variable Stiffness Joint Module to Quickly Change the Stiffness and to Reduce the Power Consumption

TLDR
By mechanically compensating the moment due to unbalanced forces at the contact points, the continuous usage of stiffness motor has been eliminated, leading to reduced power consumption.

VnStylus: A Haptic Stylus With Variable Tip Compliance

TLDR
This article presents the design, mathematical modeling, implementation, characterization and user evaluations of VnStylus, a stylus with hardware-based tip compliance modulation that is lightweight, low cost, and robust.

References

SHOWING 1-10 OF 59 REFERENCES

Design and tele-impedance control of a variable stiffness transradial hand prosthesis

TLDR
This dissertation aims to address challenges of widespread adaptation of prosthetic devices by presenting the design, implementation, experimental characterization and human subject studies of a low cost, customizable, variable stiffness transradial hand prosthesis controlled through a natural human-machine interface.

sEMG-Based Natural Control Interface for a Variable Stiffness Transradial Hand Prosthesis

TLDR
The proposed approach is advantageous, since the impedance regulation takes place naturally without requiring amputees' attention and diminishing their functional capability, and the proposed interface is easy to use, does not require long training periods or interferes with the control of intact body segments.

Antagonistically driven finger design for the anthropomorphic DLR Hand Arm System

TLDR
A finger design that combines a reduced diversity of parts with the need to build five kinematically different fingers is presented, shown to be robust against impacts as well as highly dynamic.

Tele-impedance control of a variable stiffness prosthetic hand

TLDR
Experimental results indicate that both position and stiffness can be adequately estimated using sEMG signals and regulated through VSA, and provides amputee with easiness in use.

Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators

In recent years, Japanese society has been ageing, engendering a labor shortage of young workers. Robots are therefore expected to be useful in performing tasks such as day-to-day support for elderly

A single-actuator prosthetic hand using a continuum differential mechanism

TLDR
This paper presents the design of an underactuated prosthetic hand with one actuator using a continuum differential mechanism that is simple enough to allow all the components to be packed into the palm.

The SoftHand Pro: Functional evaluation of a novel, flexible, and robust myoelectric prosthesis

TLDR
The first systematic, clinical assessment of a novel prosthetic hand, the SoftHand Pro, in participants with transradial amputation and age-matched, limb-intact participants shows the promise of the SHP, a flexible and adaptive prosthetics hand, and pave a path forward to ensuring higher functionality in future.

The DLR FSJ: Energy based design of a variable stiffness joint

TLDR
The presented DLR Floating Spring Joint is a VSJ module designed for the first 4 axes of the anthropomorphic DLR Hand Arm System, and addresses not only energy efficient components and low friction design, but also that the potential energy of the spring is used as good as possible.

Task-dependent impedance and implications for upper-limb prosthesis control

TLDR
Design considerations are identified for prostheses with user-selectable impedance that can achieve useful impedance ranges for improving user performance and most notably, the physical system could not achieve the low damping levels that helped subjects reduce contact forces in the virtual prosthesis studies.
...