TitleThe SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype
Publication TypeBook Chapter
Year of Publication2016
AuthorsGodfrey, SB, Bianchi, M, Zhao, K, Catalano, MG, Breighner, R, Theuer, A, Andrews, K, Grioli, G, Santello, M, Bicchi, A
Book TitleConverging Clinical and Engineering Research on Neurorehabilitation II
Series VolumeBiosystems & Biorobotics
PublisherSpringer International Publishing
KeywordsHaptics, Robotics

This work presents the translation from a humanoid robotic hand to a prosthetic prototype and its first evaluation in a set of 9 persons with amputation. The Pisa/IIT SoftHand is an underactuated hand built on the neuroscientific principle of motor synergies enabling it to perform natural, human-like movements and mold around grasped objects with minimal control input. These features motivated the development of the SoftHand Pro, a prosthetic version of the SoftHand built to interface with a prosthetic socket. The results of the preliminary testing of the SoftHand Pro showed it to be a highly functional design with an intuitive control system. Present results warrant further testing to develop the SoftHand Pro.


Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain

Refereed DesignationRefereed
PDF icon godfrey_icnr_2016.pdf136.43 KB