Bio-inspired approach for the design and characterization of a tactile sensory system for a cybernetic prosthetic hand

Recent research in prosthetic hands aims at developing innovative cybernetic systems able to allow users to feel an artificial hand as part of their bodies by providing the tactile sensation of a natural hand. Such prostheses must be endowed with artificial proprioceptive and exteroceptive sensory systems as well as appropriate neural interfaces able to exchange sensory-motor signals between the body and the nervous system of an amputee. Based on consideration of available neurophysiological and behavioral data in humans and on the specific sensory needs to control a prototypical grasp-and-lift task, two kinds of sensors were developed: on-off contact sensor arrays and triaxial force sensors. Both sensor types were characterized and compared with their biological counterparts. Their ability to convey critical information during a lift task was evaluated with the sensors integrated in a biomechatronic cybernetic hand