Development of a Haptic System for Grasp Force Control of Underactuated Prosthetics Hands

과소 구동 전동의수의 파지력 제어를 위한 햅틱 시스템 개발

  • Received : 2016.06.07
  • Accepted : 2017.02.03
  • Published : 2017.05.01


Underactuated prosthetic hands are relatively light and economical. In this work, an economical grasping force control system is proposed for underactuated prosthetic hands with adaptive grasp capability. The prosthetic hand is driven by a main cable based on a set of electromyography sensors on the forearm of a user. Part of the main cable tension related to grasping force is fed back to the user by a skin-mounted vibrator. The proper relationship between the grasping force and the vibrator drive voltage was established and prototype tests were performed on a group of users. Relatively accurate grasping force control was achieved with minimal training of users.


Prosthetic Hand;Underactuated Mechanism;Grasp Force;Feedback Control


Supported by : 한국연구재단


  1. Touch Bionics Homepage, ''
  2. Bebionic Homepage, ''
  3. Otto Bock USA Homepage, ''
  4. Nasser, S., Rincon, D. and Rodriguez, M., 2006, "Design of a Low Cost, Highly Functional, Multifingered Hand Prosthesis," Proceedings of the Fourth LACCEI International Latin American and Caribbean Conference for Engineering and Technology.
  5. Huang, H., Jiang, L., Liu, Y., Hou, L., Cai, H. and Liu, H., 2006, "The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand," Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics, pp. 896-901.
  6. Yu, H. S., Kim, M. C. and Song, J. B., 2014, "Tendon-driven Adaptive Robot Hand," The Journal of Korea Robotics Society, Vol. 9, No. 4, pp. 258-263.
  7. Kim, T. S., Kim, D. H. and Park, J. H., 2007, "Development of Dexterous H3 (Hanyang Humanoid Hand)," Proc. Trans. Korean Soc. Mech. Eng. autumn annual meeting, pp. 1-6.
  8. Mitsui, K., Ozawa, R. and Kou, T., 2013, "An Underactuated Robotic Hand for Multiple Grasps," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5475-5480.
  9. Kim, K.H., Kwon, H. C., Lee, G. H., Lim, H. S., Lee, C. S., Lee, S. H., Lee, J. H. and Jeong, J. J., 2015, "Electric Prosthesis based on EMG(Electromyogram) Method and the Remote Control Apparatus Thereof," Republic of Korea Patent, 10-2015-0108137.
  10. Castellini , C., van der Smagt, P., Sandini, G. and Hirzinger, G., 2008, "Surface EMG for Force Control of Mechanical Hands," 2008 IEEE International Conference on Robotics and Automation, pp. 725-730.
  11. Chatterjee, A., Chaubey, P., Martin, J. and Thakor, N., 2008, "Testing a Prosthetic Haptic Feedback Simulator With an Interactive Force Matching Task," Journal of Prosthetic and Orthotics, Vol. 20, No. 2, pp. 27-34.
  12. Patterson, P. E. and Katz, J. A., 1992, "Design and Evaluation of a Sensory Feedback System that Provides Grasping Pressure in a Myoelectric Hand," Journal of Rehabilitation Research and Development, Vol. 29, No. 1, pp. 1-8.
  13. Dhillon, G. S. and Horch, K. W., 2005, "Direct Neural Sensory Feedback and Control of a Prosthetic Arm," IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 13, No. 4, pp. 468-472.
  14. Pylatiuk, C., Kargov, A. and Schulz, S., 2006, "Design and Evaluation of a Low-Cost Force Feedback System for Myoelectric Prosthetic Hands," Journal of Prosthetics and Orthotics, Vol. 18, No. 2, pp. 57-61.
  15. Ko, H. K., Cho, C. H., Kwon, H. C. and Kim, K. H., 2012, "Design of an Underactuated Robot Hand Based on Displacement-Force Conversion Mechanism," International Journal of Precision Engineering and Manufacturing, Vol. 13, No. 4, pp. 509-516.
  16. Deco, G. and Rolls, E. T., 2006, "Decision-making and Weber's Law: a Neurophysiological Model," The European Journal of Neuroscience, Vol. 24, No. 3, pp. 901-916.