An "ideal" upper limb prosthesis should be perceived as part of the natural body by the amputee and should replicate sensory-motor capabilities of the amputated limb. However, such an ideal "cybernetic" prosthesis is still far from reality: current prosthetic hands are simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. This paper describes the design and fabrication of a novel prosthetic hand based on a "biomechatronic" and cybernetic approach. Our approach is aimed at providing "natural" sensory-motor co-ordination to the amputee, by integrating biomimetic mechanisms, sensors, actuators and control, and by interfacing the hand with the peripheral nervous system.
Dario, P., Micera, F., Carrozza, M., Massa, B., Zecca, M. (2001). Design and experiments on a novel biomechatronic hand. In 7th International Symposium on Experimental Robotics (pp.159-168). SPRINGER-VERLAG BERLIN.
Design and experiments on a novel biomechatronic hand
Carrozza M;
2001
Abstract
An "ideal" upper limb prosthesis should be perceived as part of the natural body by the amputee and should replicate sensory-motor capabilities of the amputated limb. However, such an ideal "cybernetic" prosthesis is still far from reality: current prosthetic hands are simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. This paper describes the design and fabrication of a novel prosthetic hand based on a "biomechatronic" and cybernetic approach. Our approach is aimed at providing "natural" sensory-motor co-ordination to the amputee, by integrating biomimetic mechanisms, sensors, actuators and control, and by interfacing the hand with the peripheral nervous system.
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