Biomimetic Strategies of Slip Sensing, Perception, and Protection in Prosthetic Hand Grasp
This study develops biomimetic strategies for slip prevention in prosthetic hand grasps. The biomimetic system is driven by a novel slip sensor, followed by slip perception and preventive control. Here, we show that biologically inspired sensorimotor pathways can be restored between the prosthetic h...
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
|
| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/9/12/751 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850239587817881600 |
|---|---|
| author | Anran Xie Zhuozhi Zhang Jie Zhang Tie Li Weidong Chen James Patton Ning Lan |
| author_facet | Anran Xie Zhuozhi Zhang Jie Zhang Tie Li Weidong Chen James Patton Ning Lan |
| author_sort | Anran Xie |
| collection | DOAJ |
| description | This study develops biomimetic strategies for slip prevention in prosthetic hand grasps. The biomimetic system is driven by a novel slip sensor, followed by slip perception and preventive control. Here, we show that biologically inspired sensorimotor pathways can be restored between the prosthetic hand and users. A Ruffini endings-like slip sensor is used to detect shear forces and identify slip events directly. The slip information and grip force are encoded into a bi-state sensory coding that evokes vibration and buzz tactile sensations in subjects with transcutaneous electrical nerve stimulation (TENS). Subjects perceive slip events under various conditions based on the vibration sensation and voluntarily adjust grip force to prevent further slipping. Additionally, short-latency compensation for grip force is also implemented using a neuromorphic reflex pathway. The reflex loop includes a sensory neuron and interneurons to adjust the activations of antagonistic muscles reciprocally. The slip prevention system is tested in five able-bodied subjects and two transradial amputees with and without reflex compensation. A psychophysical test for perception reveals that the slip can be detected effectively, with a success accuracy of 96.57%. A slip protection test indicates that reflex compensation yields faster grasp adjustments than voluntary action, with a median response time of 0.30 (0.08) s, a rise time of 0.26 (0.03) s, an execution time of 0.56 (0.07) s, and a slip distance of 0.39 (0.10) cm. Prosthetic grip force is highly correlated to that of an intact hand, with a correlation coefficient of 96.85% (2.73%). These results demonstrate that it is feasible to reconstruct slip biomimetic sensorimotor pathways that provide grasp stability for prosthetic users. |
| format | Article |
| id | doaj-art-68de2e2894f149ccbc5d9dc39caa328e |
| institution | OA Journals |
| issn | 2313-7673 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-68de2e2894f149ccbc5d9dc39caa328e2025-08-20T02:01:06ZengMDPI AGBiomimetics2313-76732024-12-0191275110.3390/biomimetics9120751Biomimetic Strategies of Slip Sensing, Perception, and Protection in Prosthetic Hand GraspAnran Xie0Zhuozhi Zhang1Jie Zhang2Tie Li3Weidong Chen4James Patton5Ning Lan6School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai 200030, ChinaSchool of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai 200030, ChinaSchool of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai 200030, Chinai-Lab Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, ChinaDepartment of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, ChinaThe Richard and Loan Hill Department of Biomedical Engineering, University of Illinois Chicago, Chicago, IL 60607, USASchool of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai 200030, ChinaThis study develops biomimetic strategies for slip prevention in prosthetic hand grasps. The biomimetic system is driven by a novel slip sensor, followed by slip perception and preventive control. Here, we show that biologically inspired sensorimotor pathways can be restored between the prosthetic hand and users. A Ruffini endings-like slip sensor is used to detect shear forces and identify slip events directly. The slip information and grip force are encoded into a bi-state sensory coding that evokes vibration and buzz tactile sensations in subjects with transcutaneous electrical nerve stimulation (TENS). Subjects perceive slip events under various conditions based on the vibration sensation and voluntarily adjust grip force to prevent further slipping. Additionally, short-latency compensation for grip force is also implemented using a neuromorphic reflex pathway. The reflex loop includes a sensory neuron and interneurons to adjust the activations of antagonistic muscles reciprocally. The slip prevention system is tested in five able-bodied subjects and two transradial amputees with and without reflex compensation. A psychophysical test for perception reveals that the slip can be detected effectively, with a success accuracy of 96.57%. A slip protection test indicates that reflex compensation yields faster grasp adjustments than voluntary action, with a median response time of 0.30 (0.08) s, a rise time of 0.26 (0.03) s, an execution time of 0.56 (0.07) s, and a slip distance of 0.39 (0.10) cm. Prosthetic grip force is highly correlated to that of an intact hand, with a correlation coefficient of 96.85% (2.73%). These results demonstrate that it is feasible to reconstruct slip biomimetic sensorimotor pathways that provide grasp stability for prosthetic users.https://www.mdpi.com/2313-7673/9/12/751slip sensorbi-state sensory feedbackbiomimetic sensorimotor controlprosthetic handslip prevention |
| spellingShingle | Anran Xie Zhuozhi Zhang Jie Zhang Tie Li Weidong Chen James Patton Ning Lan Biomimetic Strategies of Slip Sensing, Perception, and Protection in Prosthetic Hand Grasp Biomimetics slip sensor bi-state sensory feedback biomimetic sensorimotor control prosthetic hand slip prevention |
| title | Biomimetic Strategies of Slip Sensing, Perception, and Protection in Prosthetic Hand Grasp |
| title_full | Biomimetic Strategies of Slip Sensing, Perception, and Protection in Prosthetic Hand Grasp |
| title_fullStr | Biomimetic Strategies of Slip Sensing, Perception, and Protection in Prosthetic Hand Grasp |
| title_full_unstemmed | Biomimetic Strategies of Slip Sensing, Perception, and Protection in Prosthetic Hand Grasp |
| title_short | Biomimetic Strategies of Slip Sensing, Perception, and Protection in Prosthetic Hand Grasp |
| title_sort | biomimetic strategies of slip sensing perception and protection in prosthetic hand grasp |
| topic | slip sensor bi-state sensory feedback biomimetic sensorimotor control prosthetic hand slip prevention |
| url | https://www.mdpi.com/2313-7673/9/12/751 |
| work_keys_str_mv | AT anranxie biomimeticstrategiesofslipsensingperceptionandprotectioninprosthetichandgrasp AT zhuozhizhang biomimeticstrategiesofslipsensingperceptionandprotectioninprosthetichandgrasp AT jiezhang biomimeticstrategiesofslipsensingperceptionandprotectioninprosthetichandgrasp AT tieli biomimeticstrategiesofslipsensingperceptionandprotectioninprosthetichandgrasp AT weidongchen biomimeticstrategiesofslipsensingperceptionandprotectioninprosthetichandgrasp AT jamespatton biomimeticstrategiesofslipsensingperceptionandprotectioninprosthetichandgrasp AT ninglan biomimeticstrategiesofslipsensingperceptionandprotectioninprosthetichandgrasp |