Publications

Abstract— Recent developments in experimental
anthropomorphically-driven prostheses have shown their
potential as highly dexterous prosthetic devices. However,
these prostheses are both unwearable and lack haptic
feedback regarding antagonistic tensions. Here, we present
a wearable, anthropomorphically-driven prosthesis with a
built-in haptic feedback system. Two distinct control schemes
were proposed and compared in a user study with N=6 ablebodied participants performing the Box and Blocks test.The
first control scheme was designed to provide a more intuitive,
human like actuation and relaxation of the hand, while
the simpler controller was designed to reduce fatigue from
sustaining EMG signals. Participants performed significantly
better with lower fatigue levels while using the controller
designed to be intuitive as opposed to the simpler controller.
In addition, task performance with both controllers was
better than reported performance with standard myoelectric
prostheses. These findings suggest that there is potential
utility in wearable anthropomorphically-driven prostheses,
and provide support for future studies aimed at exploring
the utility of haptic feedback in anthropomorphically-driven
prostheses.

@INPROCEEDINGS{9312933,  author={E. {Miller} and I. {Amanze} and J. {Brown}},  booktitle={2020 International Symposium on Medical Robotics (ISMR)},   title={A Wearable Anthropomorphically-Driven Prosthesis with a Built-In Haptic Feedback System},   year={2020},  volume={},  number={},  pages={125-131},  doi={10.1109/ISMR48331.2020.9312933}}

DOI: 10.1109/ISMR48331.2020.9312933