Identification of the Most Significant Tactile Sensing Pressure Points Towards Biomimetic Sensory Prosthetic Design

• Published in: Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics pp. 364 - 369
• Main Authors: Boccardo, N., Canepa, M., Sacchi, L., Marinelli, A., Di Domenico, D., De Michieli, L., Laffranchi, M.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.09.2024
• Subjects: Behavioral sciences; Grasping; Indexes; Object recognition; Prosthetic hand; Sensors; Skin; Tactile sensors; Thumb; Usability
• ISSN: 2155-1782
• DOI: 10.1109/BioRob60516.2024.10719961

In recent years, the development of prosthetic hands has made remarkable progress in achieving biomimetic performances. However, the integration of reliable and embedded tactile sensing technologies still remains a critical aspect. Drawing inspiration from the seamless human-like grasping behaviour exhibited by Hannes, we embarked on a research journey to enhance its sensory capabilities. To lay the foundation for our investigation, we performed an experimental protocol with ten healthy subjects using a tactile glove, enabling the acquisition of a rich dataset. Employing statistical methods, we identified the key interaction points during grasp activities which determine the likelihood of contact with the grasped objects. The most relevant areas of contact during grasping have therefore been identified for an optimal approach to sensorization of prosthetic hands. Preliminary findings showed these areas were localized in the thumb, index, and middle distal phalanx. This research hence serves as a foundational step toward inspiring the next generation of bionic limbs, which will integrate advanced sensing capabilities, to further enable bidirectional, multimodal control. Our work not only sheds light on crucial interaction points but also underscores the potential for enhancing prosthetic technology to mirror the intricacies of natural human hand functions.