IntelliMan_WP5_Grasping, Manipulation and Arm-Hand Coordination_T5.1_Data fusion and sensing technology_IEEEICECS2024__V0

A prosthetic device replicating the human hand capabilities is very challenging to achieve, not only for the intrinsic nature of the very complex movements, anthropomorphism, and aesthetics but also for the sophisticated capabilities that its net of receptors offers from the somatosensory perspective. Therefore, providing seamless human hand capabilities in a single device is still an open topic. Hannes Hand prosthesis exemplifies advancements in prosthetic technology, and, for this research activity, a preliminary integration of P(VDF-TrFE) piezoelectric sensors enhances novel tactile sensing capabilities. This study focuses on the sensorization of the Hannes Hand, aiming to bridge the gap between human hand functionalities and prosthetic performance. We present a preliminary implementation of sensor arrays embedded within the prosthetic glove, ensuring high sensitivity and responsiveness. Our approach aims at emphasizing sensor fusion toward the development of comprehensive feedback and intuitive control. Through a preliminary comparison analysis with human mechanoreceptors, we highlight the effectiveness of our piezoelectric sensors in replicating rapid adaptive behaviours, crucial for dynamic interaction with the environment.