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A sensorized thumb for force closed-loop control of hand neuroprostheses

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5 Author(s)
Carpaneto, J. ; Adv. Robotics Technol. & Syst. Laboratory, Scuola Superiore Sant''Anna Valdera, Pisa, Italy ; Micera, S. ; Zaccone, F. ; Vecchi, F.
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In this paper, we presented a sensorized thumb based on a matrix of piezoresistive force sensors, with an acquisition unit and a special wearing support. The sensor was calibrated and then the device was tested during different tasks simulating activities of daily living performed by seven able-bodied subjects. By means of these experiments, we verified that the device proposed can be used to extract force information during grasp. In fact, the device was able to provide useful force information in the 98% of the trials with a good repeatability during all the different conditions. Moreover, we evaluated the patterns obtained during the different grasping tasks. The palmar grasps were performed in a similar manner, whereas the lateral pinch and the spherical volar grip were more different. This device can provide force information with good performance and acceptability and it can be used for force closed-loop control of hand neuroprostheses.

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Neural Systems and Rehabilitation Engineering, IEEE Transactions on  (Volume:11 ,  Issue: 4 )