Myoelectric prosthetic hand with tactile and slip feedback functions

An intelligent prosthetic hand was developed with tactile and slip sensations. The sensor is made of polyvinylidene fluoride (PVDF) and covered by a rubber membrane over the array structure. A step response is generated when the prosthetic hand touches an object. In case slip between the object and the hand, the sensor array vibrates, which induces an alternating signal. Thus, the tactile and slip sensations can be identified by their different responses. The slip detection using the alternating piezoelectric signal is very effective and easy to realize for real-time feedback. Test results show that the intelligent prosthetic hand is more functional than traditional prosthetic hands, especially when grasping fragile or soft objects.