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Prosthetic Hand with Biomimetic Tactile Sensing and Force Feedback

Tactile feedback is important to enhance the ability of amputees to interact with various objects. In this regard, this paper presents a 3D-printed prosthetic limb with integrated biomimetic tactile sensors coupled with a feedback actuation mechanism which is integrated to a myo-electric band on the residual limb. The static and dynamic tactile sensors on 3D-printed hand were realized by using a capacitive architecture in tandem with a piezoelectric structure. The capacitive sensing structure exhibited non-linear characteristics with varying sensitivities of 0.25 kPa−1 in low pressure range (<100 Pa) to 0.002 kPa−1 in high pressure while the piezo-structure exhibited a sensitivity of 2.28 kPa−1. Two different types of actuators are employed and integrated to the myo-electric band to offer static and dynamic tactile feedback in the residual limb area.