Abstract
This paper presents the results from the characterization of pneumatic touch sensors (sensing bulbs) designed to be integrated into myoelectric prostheses and body-powered prostheses. The sensing bulbs, made of silicone, were characterized individually (single sensing bulb) and as a set of five sensors integrated into a silicone glove. We looked into the sensing bulb response when applying pressure at different angles, and also studied characteristics such as repeatability, hysteresis, and frequency response. The results showed that the sensing bulbs have the advantage of responding consistently to pressure coming from different angles. Additionally, the output (pneumatic pressure) is dependent on the size of interacting object applied to the sensing bulb. This means that the sensing bulb will give higher sensation when picking up sharper objects than blunt objects. Furthermore, the sensing bulb has good repeatability, linearity with an error of 2.95± 0.40%, and maximum hysteresis error of 2.39± 0.17% on the sensing bulb. This well exceeds the required sensitivity range of a touch sensor. In summary, the sensing bulb shows potential for use in prosthetic hands.
Highlights
T HE tactile receptors in the human skin are exceptional sensors, the presence of which helps us to interact and explore our surroundings in activities such as manipulation and exploration [1]
Plastic tubes connect the sensing bulbs to other silicone pads that act as a tactile display, which in turn, creates a non-invasive closed pneumatic sensory feedback system. The bulbs of this design spread to provide larger contact force in any direction with an anthropomorphic appearance. We suggest that this kind of pneumatic sensing bulb is robust and insensitive to direction
It is mentioned in the aforementioned study that the sensing bulbs will be placed individually according to the type of prosthesis and to how the prosthesis is handled by the user
Summary
T HE tactile receptors in the human skin are exceptional sensors, the presence of which helps us to interact and explore our surroundings in activities such as manipulation and exploration [1]. In order to perceive different kinds of tactile sensations, all four mechanoreceptor types contribute to the flow of sensory information to the brain where the percepts. The design of this system was similar to that of an earlier study [31] with some minor changes: the sensing bulbs are of different size and are placed in different positions, only covering the distal phalanx of the rubber glove. The force is sensed through the sensing bulbs and is mediated using air in a plastic tube that is connected to an actuator, providing the amputee with sensory feedback
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