Abstract
Upper limb robotic prosthetic devices currently lack adequate sensory feedback, contributing to a high rejection rate. Incorporating affective sensory feedback into these devices reduces phantom limb pain and increases control and acceptance. To address the lack of sensory feedback we present the B:Ionic glove, wearable over a robotic hand which contains sensing, computation and actuation on board. It uses shape memory alloy (SMA) actuators integrated into an armband to gently squeeze the user's arm when pressure is sensed in novel electro-fluidic fingertip sensors and decoded through soft matter logic. We found that a circular electro-fluidic sensor cavity generated the most sensitive fingertip sensor and considered a computational configuration to convey different information from robot to user. A user study was conducted to characterise the tactile interaction capabilities of the device. No significant difference was found between the skin sensitivity threshold of participants' lower and upper arm. They found it easier to distinguish stimulation locations than strengths. Finally, we demonstrate a proof-of-concept of the complete device, illustrating how it could be used to grip an object, solely from the affective tactile feedback provided by the B:Ionic glove. The B:Ionic glove is a step towards the integration of natural, soft sensory feedback into robotic prosthetic devices.
Highlights
T HE loss of a limb after amputation inevitably changes a person’s lifestyle
For an upper limb amputee, motor functions can be partially re-established by means of a myoelectric or body-powered prosthesis
We introduce the wearable B:Ionic glove (Fig. 1 and 2), a prosthetic sensor system capable of providing mechanotactile stimulation on the user’s arm relative to the pressure experienced at the fingertips of their upper limb prosthetic device
Summary
T HE loss of a limb after amputation inevitably changes a person’s lifestyle. Both motor and sensory functions are lost, significantly limiting their ability to perform daily activities and affecting their quality of life [1]. For an upper limb amputee, motor functions can be partially re-established by means of a myoelectric or body-powered prosthesis. The lack of sufficient sensing is a contributing factor to 1 in 5 upper limb amputees opting to not wear an upper limb prosthesis. Of those that do, approximately a third (depending on the type of device) end up rejecting it [2]
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
