TY - CHAP
T1 - Preliminary results toward continuous and proportional control of a multi-synergistic soft prosthetic hand
AU - Piazza, Cristina
AU - Catalano, Manuel G.
AU - Bicchi, Antonio
AU - Hargrove, Levi J.
N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2019.
PY - 2019
Y1 - 2019
N2 - State of art of modern hand prosthesis is populated by sophisticate hi-tech poly-articular hands which usually offer a broader set of movement capabilities, with the possibility to control up to 4 or 5 motors and achieve several different postures. Unfortunately these device are not so easy to control. A novel emerging trend is oriented towards a strong simplification of the mechanical design (through i.e. underactuation mechanisms), but still maintaining a good level of performance. A successful example is the SoftHand2 Pro, a 19 Degrees of Freedom (DoF) anthropomorphic hand which, using two motors, can move along two different synergistic directions, to perform either power grasp, precision grasp and index point. The combination of this multi-synergistic prosthetic hand with advanced controls, as myoelectric pattern recognition algorithms, allows to get promising results toward a more natural and intuitive control, introducing novel features as the possibility of a continuous switch between gestures. Preliminary experimental results are presented, demonstrating the effectiveness of the idea.
AB - State of art of modern hand prosthesis is populated by sophisticate hi-tech poly-articular hands which usually offer a broader set of movement capabilities, with the possibility to control up to 4 or 5 motors and achieve several different postures. Unfortunately these device are not so easy to control. A novel emerging trend is oriented towards a strong simplification of the mechanical design (through i.e. underactuation mechanisms), but still maintaining a good level of performance. A successful example is the SoftHand2 Pro, a 19 Degrees of Freedom (DoF) anthropomorphic hand which, using two motors, can move along two different synergistic directions, to perform either power grasp, precision grasp and index point. The combination of this multi-synergistic prosthetic hand with advanced controls, as myoelectric pattern recognition algorithms, allows to get promising results toward a more natural and intuitive control, introducing novel features as the possibility of a continuous switch between gestures. Preliminary experimental results are presented, demonstrating the effectiveness of the idea.
UR - http://www.scopus.com/inward/record.url?scp=85055350302&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-01845-0_15
DO - 10.1007/978-3-030-01845-0_15
M3 - Chapter
AN - SCOPUS:85055350302
T3 - Biosystems and Biorobotics
SP - 77
EP - 81
BT - Biosystems and Biorobotics
PB - Springer International Publishing
ER -