KIT | KIT-Bibliothek | Impressum | Datenschutz

Designing Prosthetic Hands With Embodied Intelligence: The KIT Prosthetic Hands

Weiner, Pascal ORCID iD icon 1; Starke, Julia 1; Rader, Samuel 1; Hundhausen, Felix 1; Asfour, Tamim 1
1 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)

Abstract:

Hand prostheses should provide functional replacements of lost hands. Yet current prosthetic hands often are not intuitive to control and easy to use by amputees. Commercially available prostheses are usually controlled based on EMG signals triggered by the user to perform grasping tasks. Such EMG-based control requires long training and depends heavily on the robustness of the EMG signals. Our goal is to develop prosthetic hands with semi-autonomous grasping abilities that lead to more intuitive control by the user. In this paper, we present the development of prosthetic hands that enable such abilities as first results toward this goal. The developed prostheses provide intelligent mechatronics including adaptive actuation, multi-modal sensing and on-board computing resources to enable autonomous and intuitive control. The hands are scalable in size and based on an underactuated mechanism which allows the adaptation of grasps to the shape of arbitrary objects. They integrate a multi-modal sensor system including a camera and in the newest version a distance sensor and IMU. A resource-aware embedded system for in-hand processing of sensory data and control is included in the palm of each hand. ... mehr


Verlagsausgabe §
DOI: 10.5445/IR/1000145752
Veröffentlicht am 05.05.2022
Originalveröffentlichung
DOI: 10.3389/fnbot.2022.815716
Scopus
Zitationen: 19
Web of Science
Zitationen: 7
Dimensions
Zitationen: 17
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2022
Sprache Englisch
Identifikator ISSN: 1662-5218
KITopen-ID: 1000145752
Erschienen in Frontiers in Neurorobotics
Verlag Frontiers Media SA
Band 16
Seiten Art.-Nr.: 815716
Bemerkung zur Veröffentlichung Gefördert durch den KIT-Publikationsfonds
Vorab online veröffentlicht am 10.03.2022
Nachgewiesen in Scopus
Web of Science
Dimensions
KIT – Die Forschungsuniversität in der Helmholtz-Gemeinschaft
KITopen Landing Page