Design and experiment of a modular multisensory hand for prosthetic applications

Abstract

Purpose This paper aims to present the design and experiment of a modular multisensory prosthetic hand for applications. Design and experiment of a modular multisensory hand for prosthetic applications. Design/methodology/approach This paper reveals more details focusing on the appearance, mechanism design, electrical design and control of the prosthetic hand considering anthropomorphism, dexterity, sensing and controllability. The finger is internally integrated with the actuator, the transmission mechanism, the sensors and the controller as a modular unit. Integrated with multiple sensors, the prosthetic hand can not only perceive the position, the contact force and the temperature of the environment like a human hand but also provide the foundation for the practical control. Findings The experiments show that the prosthetic hand can accurately control the contact force to achieve stable grasps based on the sensors feedback and a simple and effective force-tracking impedance control algorithm. In addition, the experiments based on the cosmesis validate not only the cosmesis functionality but also the control performance for a prosthesis–cosmesis system. Practical implications Because of the small size, low weight, high integration, modularity and controllability, the prosthetic hand is easily applied to upper-limb amputees. Meanwhile, the finger as a modular unit is easy to be fixed, maintained and applied to a partial upper-limb amputee. Originality/value Each modular finger of the prosthetic hand integrated with the actuator, the transmission mechanism, the sensors and the controller as a whole can independently control the position and the force. The cosmetic glove design can provide pretty appearance without compromising the control performance.