A soft neuroprosthetic hand providing simultaneous myoelectric control and tactile feedback
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Abstract
Neuroprosthetic hands are typically heavy (over 400 g) and expensive (more than US$10,000), and lack the compliance and tactile feedback of human hands. Here, we report the design, fabrication and performance of a soft, low-cost and lightweight (292 g) neuroprosthetic hand that provides simultaneous myoelectric control and tactile feedback. The neuroprosthesis has six active degrees of freedom under pneumatic actuation, can be controlled through the input from four electromyography sensors that measure surface signals from residual forearm muscles, and integrates five elastomeric capacitive sensors on the fingertips to measure touch pressure so as to enable tactile feedback by eliciting electrical stimulation on the skin of the residual limb. In a set of standardized tests performed by two individuals with transradial amputations, we show that the soft neuroprosthetic hand outperforms a conventional rigid neuroprosthetic hand in speed and dexterity. We also show that one individual with a transradial amputation wearing the soft neuroprosthetic hand can regain primitive touch sensation and real-time closed-loop control.
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In a system, these devices can work independently, but ideally each part can form a closed-loop system that is interlinked to perform more precise and complex tasks.
“In a system, they can work independently, but, ideally, each part can form a closed-loop system that is interlinked to perform more precise and complex tasks.[76,153]”
From Flexible Electronics and Devices as Human–Machine Interfaces for Medical Robotics (2022) · cites this paper as [76]
The Design section (page unavailable) describes an interlinked system: EMG control, touch sensors and electrical stimulation let the user adjust the hand’s grasp in a closed loop. It says the hand’s degrees of freedom can be independently controlled, but does not establish that the devices work independently, that each part forms its own closed loop, or that this arrangement enables more precise and complex tasks. (LLM, conf=0.84)
Experimental — accuracy not yet measuredA soft EMG controlled pneumatic neuroprosthetic with ionic capacitive sensors and flexible stimulators was developed to reduce manufacturing costs and achieve lightweight actuation.
“As an exemplary case, a soft EMG controlled pneumatic neuroprosthetic with ionic capacitive sensors and flexible stimulators was developed to reduce manufacturing costs and achieve lightweight actuation.”
From Flexible Electronics and Devices as Human–Machine Interfaces for Medical Robotics (2022) · cites this paper as [76]
The Abstract and Conclusion describe a lightweight, potentially low-cost, pneumatically actuated hand controlled by EMG signals. The Design section describes ionic hydrogel-elastomer capacitive touch sensors and electrical stimulators, but does not say the stimulators are flexible. (LLM, conf=0.88)
Experimental — accuracy not yet measuredVarious soft mechanical and thermal actuators have been extensively adopted as artificial muscles and heat sources in prosthetic actuation.
“Currently, various soft mechanical[76,460] and thermal actuators[106,461] have been extensively adopted as artificial muscles and heat sources in prosthetic actuation.”
From Flexible Electronics and Devices as Human–Machine Interfaces for Medical Robotics (2022) · cites this paper as [76]
Some prospective systematic works have been reported.
“Promisingly, some prospective systematic works have been reported.[76,153]”
From Flexible Electronics and Devices as Human–Machine Interfaces for Medical Robotics (2022) · cites this paper as [76]
On-body testing showed that after 15 minutes of training, an amputee could use the flexible prosthetic system to perform a range of precise gripping and social tasks, demonstrating potential for future applications.
“The on-body test of this system showed excellent results: after 15 minutes of training, the amputee was able to use the flexible prosthetic system to perform a range of precise gripping and social tasks, demonstrating tremendous potential for future applications.[76]”
From Flexible Electronics and Devices as Human–Machine Interfaces for Medical Robotics (2022) · cites this paper as [76]
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- Authors
- Gu, G., Zhang, N., Xu, H., Lin, S., Yu, Y., Chai, G., Ge, L., Yang, H., Shao, Q., Sheng, X., Zhu, X., & Zhao, X.
- Affiliations
- Shanghai Jiao Tong University (CN)
- Massachusetts Institute of Technology (US)
- Corresponding author
- Gu, Guoying
- Zhu, Xiangyang
- Zhao, Xuanhe
- ORCID
- Venue
- Nature Biomedical Engineering
- Published
- 2021-08-16
- Volume
- 7
- Issue
- 4
- Pages
- 589-598
- ISSN
- 2157-846X (ISSN-L)
- OpenAlex
- W3194786616
- Cited by
- 431
- References
- 7
- Citations by year
- 2026: 55 · 2025: 111 · 2024: 94 · 2023: 92 · 2022: 71 · 2021: 7
- FWCI
- 20.05
- Type
- journal article
- Language
- en
- Open access
- green
- doi.org
- Licence
- Locations
- Nature Biomedical Engineering (publishedVersion)
- Research Square (acceptedVersion, cc-by)
- PubMed (publishedVersion)
- Funders
- Science and Technology Commission of Shanghai Municipality (20550712100)
- National Natural Science Foundation of China (91948302,51620105002)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Physical Sciences › Engineering › Biomedical Engineering › Muscle activation and electromyography studies
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- myoelectric control, tactile feedback, transradial amputation, pneumatic actuation, electrical stimulation, electromyography, feedback control, dexterity
- MeSH terms
- Artificial Limbs, Feedback, Hand, Humans, Touch, Feedback, Sensory
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