A closed-loop hand prosthesis with simultaneous intraneural tactile and position feedback
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Abstract
Current myoelectric prostheses allow transradial amputees to regain voluntary motor control of their artificial limb by exploiting residual muscle function in the forearm. However, the overreliance on visual cues resulting from a lack of sensory feedback is a common complaint. Recently, several groups have provided tactile feedback in upper limb amputees using implanted electrodes, surface nerve stimulation, or sensory substitution. These approaches have led to improved function and prosthesis embodiment. Nevertheless, the provided information remains limited to a subset of the rich sensory cues available to healthy individuals. More specifically, proprioception, the sense of limb position and movement, is predominantly absent from current systems. Here, we show that sensory substitution based on intraneural stimulation can deliver position feedback in real time and in conjunction with somatotopic tactile feedback. This approach allowed two transradial amputees to regain high and close-to-natural remapped proprioceptive acuity, with a median joint angle reproduction precision of 9.1° and a median threshold to detection of passive movements of 9.5°, which was comparable with results obtained in healthy participants. The simultaneous delivery of position information and somatotopic tactile feedback allowed both amputees to discriminate the size and compliance of four objects with high levels of performance (75.5%). These results demonstrate that tactile information delivered via somatotopic neural stimulation and position information delivered via sensory substitution can be exploited simultaneously and efficiently by transradial amputees. This study paves a way to more sophisticated bidirectional bionic limbs conveying richer, multimodal sensations.
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A recent clinical study with two transradial amputees has proven the capability of TIME electrodes in improving sensory feedback when combined with non-invasive somatotopic neural stimulation.
“A recent clinical study with two transradial amputees has proven the capability of TIME electrodes in improving sensory feedback when combined with non-invasive somatotopic neural stimulation [99].”
From Interfaces with the peripheral nervous system for the control of a neuroprosthetic limb: a review (2020) · cites this paper as [99]
The Abstract reports a study of two transradial amputees implanted with TIME electrodes and receiving somatotopic tactile feedback. However, the Multi-joint proprioception task passage says both sensory streams were delivered through implanted intraneural TIME electrodes, not combined with non-invasive somatotopic neural stimulation. (LLM, conf=0.90)
Experimental — accuracy not yet measuredWhile cuffs have been predominant choice for widespread clinical stimulation applications, newer ultraflexible devices such as TIME are seeing great success in humans.
“While cuffs have been the predominant choice for widespread clinical stimulation applications, newer ultraflexible devices such as the TIME are seeing great success in humans (D'Anna et al., 2019; Petrini et al., 2019).”
From Foreign Body Reaction to Implanted Biomaterials and Its Impact in Nerve Neuroprosthetics (2021) · cites this paper as D'Anna et al., 2019
The Abstract (page unavailable) reports that two human amputees received TIME implants and achieved accurate sensory-feedback task performance, supporting the claim of success in humans. The passages do not establish that cuffs predominate in clinical stimulation or describe TIMEs as ultraflexible. (LLM, conf=0.85)
Experimental — accuracy not yet measuredNerve neuroprosthetics offer applications such as control of bladder function, management of depression, and restoration of sensory perception in amputees.
“Whether by activating nerves through electrical stimulation or by reading their electrical signals, nerve neuroprosthetics offer a myriad of applications such as the control of bladder function (Brindley et al., 1982), management of depression (Nemeroff et al., 2006), and restoration of sensory perception in amputees (D'Anna et al., 2019).”
From Foreign Body Reaction to Implanted Biomaterials and Its Impact in Nerve Neuroprosthetics (2021) · cites this paper as D'Anna et al., 2019
TIMEs coupled with artificial hand prostheses have been used to restore sensory perception in human hand amputee patients.
“TIMEs are able to both stimulate (Badia et al., 2011b) and record from Badia et al. (2016) separate nerve fascicles within nerves independently, and coupled with artificial hand prostheses have been used to restore sensory perception in human hand amputee patients (Raspopovic et al., 2014; D'Anna et al., 2019).”
From Foreign Body Reaction to Implanted Biomaterials and Its Impact in Nerve Neuroprosthetics (2021) · cites this paper as D'Anna et al., 2019
Together with growing interest in translation of these technologies into human clinical use, FBR has become a dominant problem that needs to be actively addressed at implant design stage.
“Together with a growing interest in the translation of these technologies into human clinical use (Wendelken et al., 2017; D'Anna et al., 2019; Petrini et al., 2019), FBR has become a dominant problem that needs to be actively addressed at the implant design stage.”
From Foreign Body Reaction to Implanted Biomaterials and Its Impact in Nerve Neuroprosthetics (2021) · cites this paper as D'Anna et al., 2019
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- Authors
- D’Anna, E., Valle, G., Mazzoni, A., Strauss, I., Iberite, F., Patton, J., Petrini, F. M., Raspopovic, S., Granata, G., Di Iorio, R., Controzzi, M., Cipriani, C., Stieglitz, T., Rossini, P. M., & Micera, S.
- Affiliations
- École Polytechnique Fédérale de Lausanne (CH)
- Scuola Superiore Sant'Anna (IT)
- Laboratory for Neuroengineering, Department of Health Sciences and Technology, Institute for Robotics and Intelligent Systems, ETH Zürich, 8092 Zürich, Switzerland.
- Università Cattolica del Sacro Cuore (IT)
- Institute of Neurology, Catholic University of The Sacred Heart, Policlinic A. Gemelli Foundation, Roma, Italy.
- University of Freiburg (DE)
- Corresponding author
- D’Anna, Edoardo
- Micera, Silvestro
- ORCID
- Venue
- Science Robotics
- Published
- 2019-02-20
- Volume
- 4
- Issue
- 27
- ISSN
- 2470-9476 (ISSN-L)
- OpenAlex
- W2793066764
- Cited by
- 321
- References
- 44
- Citations by year
- 2026: 19 · 2025: 43 · 2024: 49 · 2023: 50 · 2022: 57 · 2021: 51 · 2020: 39 · 2019: 13
- FWCI
- 14.10
- Type
- journal article
- Language
- en
- Open access
- green
- doi.org
- Licence
- cc-by-nc-nd
- Locations
- Science Robotics (publishedVersion)
- bioRxiv (Cold Spring Harbor Laboratory) (acceptedVersion, cc-by-nc-nd)
- PubMed (publishedVersion)
- Infoscience (Ecole Polytechnique Fédérale de Lausanne) (submittedVersion, cc-by-nc-nd)
- CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies) (submittedVersion)
- Funders
- Fondation Bertarelli
- H2020 Excellent Science (NEBIAS Project)
- Swiss National Science Foundation (NCCR Robotics)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Muscle activation and electromyography studies
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Life Sciences › Neuroscience › Cellular and Molecular Neuroscience › Neuroscience and Neural Engineering
- Keywords
- myoelectric prosthetic hand, transradial amputation, intraneural stimulation, sensory substitution, proprioception, position feedback, feedback control
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