Beyond Humanoid Prosthetic Hands: Modular Terminal Devices That Improve User Performance
Digby Chappell, Barry Mulvey, Shehara Perera, Fernando Bello, Petar, Kormushev, Nicolas Rojas

TL;DR
This paper presents modular, non-humanoid prosthetic devices that outperform traditional humanoid designs in task performance, user effort, and adaptability, challenging the conventional anthropomorphic approach in prosthetics.
Contribution
It introduces four open-source modular non-humanoid prosthetic devices tailored for specific tasks, demonstrating significant improvements over humanoid prostheses.
Findings
Non-humanoid prostheses improve task performance
Reduced user compensatory movements
Lower task load for users
Abstract
Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed to the widely accepted anthropomorphic design ideology in the field; attempting to replicate human hand form and function despite severe limitations in control and sensing technology. Instead, prosthetic hands can be tailored to perform specific tasks without increasing complexity by shedding the constraints of anthropomorphism. In this paper, we develop and evaluate four open-source modular non-humanoid devices to perform the motion required to replicate human flicking motion and to twist a screwdriver, and the functionality required to pick and place flat objects and to cut paper. Experimental results from these devices demonstrate that, versus a humanoid prosthesis, non-humanoid prosthesis design…
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Taxonomy
TopicsMuscle activation and electromyography studies · Robot Manipulation and Learning · Prosthetics and Rehabilitation Robotics
