An Innovative Multisensor Controlled Prosthetic Hand

Abstract

This article reports the design, realisation and preliminary testing of an innovative multisensor controlled prosthetic hand. The mechanical design is strongly oriented to satisfy the requirements of delivery a penta-digital prosthetic hand with reduced hand size, low weight, independent finger movement and bio-mimetic shape. Moreover, an ad hoc sensing architecture has been designed including traditional EMG system together with in socket force measurement and inertial sensing. This sensing architecture is intended to reduce the socket complexity in terms of adaptation to different patient forearms, without loosing the possibility of performing multiple hand grips. An innovative concept introducing inertial sensing in order to select appropriate robotic hand configurations is also described. A first prototype of the prosthetic hand has been realised and preliminary tests are reported.