Experimental Study to Improve “Federica” Prosthetic Hand and Its Control System

Daniele Esposito, Chiara Cosenza, Gaetano Dario Gargiulo, Emilio Andreozzi, Vincenzo Niola, Antonio Fratini, Giovanni D’addio, Paolo Bifulco

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Modern 3D printing technologies and wide availability of microcontroller boards allow to make active prosthetic devices in a simple way. This is the case of “Federica”, a very low-cost, under-actuated, active hand prosthesis. The five fingers of the prosthesis are moved by a single motor through inelastic tendons. The control system of the prosthesis is proportional to muscle contraction: firstly, EMG was used, then mechanical sensors that measure muscle volumetric variation were successfully utilized. This prosthesis proved to be particularly energy efficient and fast; it provided a general grasp function by adapting the exerted forces, thus allowing to easily catch even deformable objects. This study presents further analyses and design improvements of this prosthesis. In particular, a new, extremely simple but effective conditioning system of a force sensor resistor was presented and tested. In addition, the actual three-dimensional kinematics of a single finger was captured by means of high frame rate cameras and then analyzed. The new sensor conditioning system was characterized. It proved to be as effective as the EMG envelope to proportionally control the hand prosthesis motion, and it allowed an easier connection to common microcontroller boards. Kinematic analysis allowed to accurately reconstruct the actual phalanges motion over time.
Original languageEnglish
Title of host publicationMEDICON 2019: XV Mediterranean Conference on Medical and Biological Engineering and Computing
PublisherSpringer
Chapter70
Pages586-593
ISBN (Electronic)978-3-030-31635-8
ISBN (Print)978-3-030-31634-1
DOIs
Publication statusE-pub ahead of print - 25 Sep 2019
EventXV Mediterranean Conference on Medical and Biological Engineering and Computing - Coimbra, Portugal
Duration: 26 Sep 201928 Sep 2019

Publication series

NameXV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019
Volume76
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277

Conference

ConferenceXV Mediterranean Conference on Medical and Biological Engineering and Computing
Abbreviated titleMEDICON 2019
CountryPortugal
CityCoimbra
Period26/09/1928/09/19

Fingerprint

Prosthetics
Control systems
Microcontrollers
Muscle
Sensors
Kinematics
Tendons
Resistors
Prostheses and Implants
Printing
Cameras
Availability
Costs

Keywords

  • Underactuated prosthetic hand
  • Muscle contraction sensors
  • Kinematic analysis

Cite this

Esposito, D., Cosenza, C., Gargiulo, G. D., Andreozzi, E., Niola, V., Fratini, A., ... Bifulco, P. (2019). Experimental Study to Improve “Federica” Prosthetic Hand and Its Control System. In MEDICON 2019: XV Mediterranean Conference on Medical and Biological Engineering and Computing (pp. 586-593). (XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019; Vol. 76). Springer. https://doi.org/10.1007/978-3-030-31635-8_70
Esposito, Daniele ; Cosenza, Chiara ; Gargiulo, Gaetano Dario ; Andreozzi, Emilio ; Niola, Vincenzo ; Fratini, Antonio ; D’addio, Giovanni ; Bifulco, Paolo. / Experimental Study to Improve “Federica” Prosthetic Hand and Its Control System. MEDICON 2019: XV Mediterranean Conference on Medical and Biological Engineering and Computing . Springer, 2019. pp. 586-593 (XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019).
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Esposito, D, Cosenza, C, Gargiulo, GD, Andreozzi, E, Niola, V, Fratini, A, D’addio, G & Bifulco, P 2019, Experimental Study to Improve “Federica” Prosthetic Hand and Its Control System. in MEDICON 2019: XV Mediterranean Conference on Medical and Biological Engineering and Computing . XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019, vol. 76, Springer, pp. 586-593, XV Mediterranean Conference on Medical and Biological Engineering and Computing, Coimbra, Portugal, 26/09/19. https://doi.org/10.1007/978-3-030-31635-8_70

Experimental Study to Improve “Federica” Prosthetic Hand and Its Control System. / Esposito, Daniele; Cosenza, Chiara; Gargiulo, Gaetano Dario; Andreozzi, Emilio; Niola, Vincenzo; Fratini, Antonio; D’addio, Giovanni; Bifulco, Paolo.

MEDICON 2019: XV Mediterranean Conference on Medical and Biological Engineering and Computing . Springer, 2019. p. 586-593 (XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019; Vol. 76).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Esposito D, Cosenza C, Gargiulo GD, Andreozzi E, Niola V, Fratini A et al. Experimental Study to Improve “Federica” Prosthetic Hand and Its Control System. In MEDICON 2019: XV Mediterranean Conference on Medical and Biological Engineering and Computing . Springer. 2019. p. 586-593. (XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019). https://doi.org/10.1007/978-3-030-31635-8_70