The SmartHand transradial prosthesis
Open accessAbstract
BACKGROUND: Prosthetic components and control interfaces for upper limb amputees have barely changed in the past 40 years. Many transradial prostheses have been developed in the past, nonetheless most of them would be inappropriate if/when a large bandwidth human-machine interface for control and perception would be available, due to either their limited (or inexistent) sensorization or limited dexterity. SmartHand tackles this issue as is meant to be clinically experimented in amputees employing different neuro-interfaces, in order to investigate their effectiveness. This paper presents the design and on bench evaluation of the SmartHand. METHODS: SmartHand design was bio-inspired in terms of its physical appearance, kinematics, sensorization, and its multilevel control system. Underactuated fingers and differential mechanisms were designed and exploited in order to fit all mechatronic components in the size and weight of a natural human hand. Its sensory system was designed with the aim of delivering significant afferent information to the user through adequate interfaces. RESULTS: SmartHand is a five fingered self-contained robotic hand, with 16 degrees of freedom, actuated by 4 motors. It integrates a bio-inspired sensory system composed of 40 proprioceptive and exteroceptive sensors and a customized embedded controller both employed for implementing automatic grasp control and for potentially delivering sensory feedback to the amputee. It is able to perform everyday grasps, count and independently point the index. The weight (530 g) and speed (closing time: 1.5 seconds) are comparable to actual commercial prostheses. It is able to lift a 10 kg suitcase; slippage tests showed that within particular friction and geometric conditions the hand is able to stably grasp up to 3.6 kg cylindrical objects. CONCLUSIONS: Due to its unique embedded features and human-size, the SmartHand holds the promise to be experimentally fitted on transradial amputees and employed as a bi-directional instrument for investigating -during realistic experiments- different interfaces, control and feedback strategies in neuro-engineering studies.
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Battery-powered myoelectric prosthesis with 16 degrees of freedom comparable to natural hand motions has been achieved.
“Among the most recent achievements is the battery-powered myoelectric prosthesis with 16 degrees of freedom comparable to natural hand motions (Cipriani et al., 2011).”
From Selectivity and Longevity of Peripheral-Nerve and Machine Interfaces: A Review. (2017) · cites this paper as Cipriani et al., 2011
The Conclusions describe a developed, self-contained hand with 16 degrees of freedom that performs everyday grips. The Background presents EMG control as an interface for future investigation, rather than demonstrating a myoelectric prosthesis; the Power Consumption section estimates batteries sufficient for a day's use, rather than reporting an achieved battery-powered configuration. The paper also does not establish that its motions are comparable to those of a natural hand. (LLM, conf=0.88)
Experimental — accuracy not yet measured
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- Authors
- Cipriani, C., Controzzi, M., & Carrozza, M. C.
- Affiliations
- Scuola Superiore Sant'Anna (IT)
- Corresponding author
- Cipriani, Christian
- Venue
- Journal of NeuroEngineering and Rehabilitation
- Published
- 2011
- Volume
- 8
- Issue
- 1
- Pages
- 29
- ISSN
- 1743-0003 (ISSN-L)
- PMC
- PMC3120755
- OpenAlex
- W2053438251
- Cited by
- 286
- References
- 43
- Citations by year
- 2026: 9 · 2025: 14 · 2024: 13 · 2023: 13 · 2022: 10 · 2021: 21 · 2020: 18 · 2019: 18 · 2018: 25 · 2017: 23 · 2016: 25 · 2015: 15 · 2014: 42 · 2013: 22 · 2012: 13
- FWCI
- 15.13
- Type
- journal article
- Language
- en
- Open access
- gold
- doi.org
- Licence
- cc-by
- Locations
- Journal of NeuroEngineering and Rehabilitation (publishedVersion, cc-by)
- PubMed Central (publishedVersion, cc-by)
- PubMed (publishedVersion)
- BOA (University of Milano-Bicocca) (submittedVersion, other-oa)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies) (submittedVersion, other-oa)
- 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
- transradial prosthesis, upper limb amputation, robotic hand, biomimetic design, proprioceptive sensors, exteroceptive sensors, haptic feedback, grasp control, underactuated fingers, differential mechanism, embedded controller, human-machine interaction
- MeSH terms
- Adaptation, Psychological, Amputees, Artificial Limbs, Biomechanical Phenomena, Electronics, Fingers, Hand, Humans, Movement, Electric Power Supplies, Prosthesis Design, Robotics, Sensation, Skeleton, User-Computer Interface, Hand Strength
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