Artificial hand controlled by a glove with a force feedback

Abstract

This article describes a construction and control of the hand prosthesis with a force feedback. Introduction part contains a review of literature within the scope of characteristics of hand prosthesis’ designs. There has been presented different approaches used during creation of artificial hands including diversity of force feedbacks and mechanisms. To control the artificial hand there has been used a glove with flex sensors and vibration motors. Such construction allows to bend the digits with instant tactile sensing. Vibration motors receive signals provided by force sensing resistors (FSR) placed on phalanges of prosthesis’ fingers. The movement of artificial hand’s digits is dispensed by four-bar linkage mechanism. Based on literature overview and performed research, last part presents the conclusions about the solution of present problems related to the process of hand prosthesis’ design with special attention to the aspect of tactile sensing providing and fingers’ kinematic.