TitleTowards More Natural Transradial Bionic Limbs
Publication TypeConference Paper
Year of Publication2020
Conference NameI-RIM
Date Published12/2020
AuthorsCapsi-Morales, P, Catalano, MG, Grioli, G, Piazza, C, Bicchi, A
KeywordsBionic Limbs, Myoelectric control, Soft-robotics, Upper-limb prostheses

Based on previous experience with prosthesis users and literature, this paper introduces three important aspects to further develop functional transradial myoelectric prostheses: stiffness modulation, grasp reliability and limb dexterity. In particular, we propose three possible solutions and discuss on the insights observed about the exploration of impedance control in prosthetic hands during Activities of Daily Living and social interaction, the introduction of an articulated palm to increase all hand parts contribution in grasping, and a compact 3 DoF myoelectric wrist capable to switch from compliant to rigid properties during pre-grasping phase to decrease compensatory movements and favour more natural body postures in prosthesis users.

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