Medical Engineering & Physics
Volume 28, Issue 6 , Pages 568-578 , July 2006

Electroactive polymeric sensors in hand prostheses: Bending response of an ionic polymer metal composite

  • Elaine Biddiss

      Affiliations

    • Bloorview Research Institute, 150 Kilgour Road, Toronto, Ont., Canada M4G 1R8
    • Institute of Biomaterials and Biomedical Engineering, University of Toronto, 4 Taddle Creek Road, Toronto, Ont., Canada M5S 3G8
  • ,
  • Tom Chau

      Affiliations

    • Bloorview Research Institute, 150 Kilgour Road, Toronto, Ont., Canada M4G 1R8
    • Institute of Biomaterials and Biomedical Engineering, University of Toronto, 4 Taddle Creek Road, Toronto, Ont., Canada M5S 3G8
    • Corresponding Author InformationCorresponding author. Tel.: +1 416 425 6220x3515; fax: +1 416 425 1634.

Received 20 April 2005 ,Revised 14 September 2005 ,Accepted 28 September 2005.

References 

  1. Goodwin AW, Wheat HE. Sensory signals in neural populations underlying tactile perception and manipulation. Annu Rev Neurosci. 2004;27:53–77
  2. Shimojo M, Suzuki T, Namikiz A, Saito T, Kunimoto M, Makino R, et al. Development of a system for experiencing tactile sensation from a robot hand by electrically stimulating sensory nerve fiber. In: Proceedings of the 2003 IEEE International Conference on Robotics & Automation Taipei, vol. 1. Taiwan, September. 2003;p. 1264–1270
  3. Eltaib MEH, Hewit JR. Tactile sensing technology for minimal access surgery––a review. Mechatronics. 2003;13:1163–1177
  4. Konyo M, Akazawa K, Tadokoro S, Takamori T. Tactile feel display for virtual active touch. In: Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3. Las Vegas, Nevada., October. 2003;p. 3744–3750
  5. Tzafestas CS. Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation. IEEE Trans Syst Man Cybern Part A: Syst Hum. 2003;33:100–113
  6. Richard P, Coiffet P. Human perceptual issues in virtual environments: sensory substitution and information redundancy. IEEE Int Workshop Robot Hum Commun. 1995;301–306
  7. Jones L. Dextrous hands: human, prosthetic, and robotic. Presence: Teleoperators Virtual Environ. 1997;6:29–46
  8. Riso RR. Strategies for providing upper extremity amputees with tactile and hand position feedback--moving closer to the bionic arm. Technol Health Care. 1999;7:401–409
  9. Mingrino A, Bucci A, Magni R, Dario P. Slippage control in hand prostheses by sensing grasping forces and sliding motion. IEEE Int Conf Intell Robots Syst. 1994;3:1803–1809
  10. Carrozza MC, Vecchit E, Sebastianit E, Cappiellot G, Roccellat S, Zecca M, et al. Experimental analysis of an innovative prosthetic hand with proprioceptive sensors. In: Proceedings of the 2003 IEEE International Conference on Robotics & Automation Taipei, vol. 2. Taiwan, September. 2003;p. 2230–2235
  11. Haugland M, Lickel A. Improved method for use of natural sensory feedback in control of grasp force for stimulated hand muscles. In: Proceedings of the 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, vol. 5. 1998;p. 2310–2312
  12. Patterson PE, Katz JA. Design and evaluation of a sensory feedback system that provides grasping pressure in a myoelectric hand. J Rehabil Res Dev. 1992;29:1–8
  13. Sasaki Y, Nakayama Y, Yoshida M. Sensory feedback system using interferential current for EMG prosthetic hand. In: Proceedings of the Second Joint EMBS/BMES Conference Houston TX, vol. 3. USA, October. 2002;p. 2402–2403
  14. Mabuchi K, Suzuki T, Kunimoto M, Shimojo M, Kakuta N, Saito N, et al. A system of interpreting somatic sensations for use with artificial hands and limbs. In: Proceedings of the First Joint BMES/EMBS Conference Serving Humanity, Advancing Technology, vol. 1. Atlanta, GA, USA, October. 1998;p. 643–644
  15. Tura A, Lamberti C, Davalli A, Sacchetti R. Experimental development of a sensory control system for an upper limb myoelectric prosthesis with cosmetic covering. J. Rehabil Res Dev. 1998;35:14–26
  16. Zecca M, Cappiello G, Sebastiani F, Roccella S, Vecchi F, Carrozza MC, et al. Experimental analysis of the proprioceptive and exteroceptive sensors of an underactuated prosthetic hand. Adv Rehabil Robotics Lecture Notes Control Inform Sci. 2004;306:233–242
  17. Yang J, Peña Pitarch E, Abdel-Malek K, Patrick A, Lindkvist L. A multi-fingered hand prosthesis. Mech Machine Theory. 2004;39:555–581
  18. Massa B, Rocella S, Carrozza MC, Dario P. Design and development of an underactuated prosthetic hand. Proc. IEEE Int Conf Robotics Autom. 2002;4:3374–3379
  19. Inmann A, Haugland M. Functional evaluation of natural sensory feedback incorporated in a hand grasp neuroprosthesis. Med Eng Phys. 2004;26:439–447
  20. Nowak DA, Glasauer S, Hermsdorfer J. How predictive is grip force control in the complete absence of somatosensory feedback?. Brain. 2004;127(Pt 1):182–192
  21. Carpaneto J, Micera S, Zaccone F, Vecchi F, Dario P. A sensorized thumb for force closed-loop control of hand neuroprostheses. IEEE Trans Neural Syst Rehabil Eng. 2003;11:346–353
  22. Tremblay F, Wong K, Sanderson R, Cote L. Tactile spatial acuity in elderly persons: assessment with grating domes and relationship with manual dexterity. Somatosensory Motor Res. 2003;20:127–132
  23. Carrozza MC, Massa B, Micera S, Lazzarini R, Zecca M, Dario P. The development of a novel prosthetic hand—ongoing research and preliminary results. IEEE/ASME Trans Mechatronics. 2002;7:108–114
  24. Carrozza MC, Dario P, Vecchi F, Roccella S, Zecca M, Sebastiani F. The CyberHand: on the design of a cybernetic prosthetic hand intended to be interfaced to the peripheral nervous system. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), vol. 3. Las Vegas, USA, October. 2003;p. 2642–2647
  25. Scott RN, Parker PA. Myoelectric prostheses: state of the art. J Med Eng Technol. 1998;12:143–151
  26. Kyberd PJ, Light C, Chappell PH, Nightingale JM, Whatley D, Evans M. The design of anthropomorphic prosthetic hands: a study of the Southampton Hand. Robotica. 2001;19:593–600
  27. Weeks DL, Wallace SA, Noteboom JT. Precision-grip force changes in the anatomical and prosthetic limb during predictable load increases. Exp Brain Res. 2000;132:404–410
  28. Puchhammer G. The tactile slip sensor: integration of a miniaturized sensory device on an myoelectric hand 2004, December 4 [Online] http://www.ottobock.se/info_download/pdf/Puchhammer%20Rutschsensor%20GB.pdf.
  29. Cranny A, Cotton DPJ, Chappell PH, Beeby SP, White NM. Thick-film force and slip sensors for a prosthetic hand. Sensors Actuat A (Phys). 2005;A123–A124:162–171
  30. Gofuku A, Tanaka Y, Tsuboi J. Development of a flexible artificial hand system equipped with a slip sensor. JSME Int J Ser C: Mech Syst, Machine Elements Manuf. 2000;43:378–386
  31. Kazerooni H, Fairbanks D, Chen A, Shin G. The magic glove. Proc. IEEE Int Conf Robotics Autom. 2004;1:757–763
  32. Yokoi H, Arieta AH, Katoh R, Yu W, Watanabe I, Maruishi M. Mutual adaptation in a prosthetics application. Embodied Artif Intell. 2004;3139:146–159
  33. Stiehl WD, Lalla L, Breazeal CA. ‘Somatic Alphabet’ approach to ‘Sensitive Skin’. In: Proceedings of the 2004 IEEE International Conference on Robotics & Automation, vol. 3. New Orleans, LA, April. 2004;p. 2865–2870
  34. Seow K. Physiology of touch, grip, and gait. In:  Webster J editors. Tactile sensors for robotics and medicine. New York: John Wiley & Sons, Inc.; 1988;p. 13–40
  35. Shieh J, Huber JE, Fleck NE, Ashby MF. The selection of sensors. Mater Sci. 2001;46:461–504
  36. In:  Webster J editors. Tactile sensors for robotics and medicine. New York: John Wiley & Sons, Inc.; 1988;
  37. Churchill M. General tactile sensor requirements. In:  Webster J editors. Tactile sensors for robotics and medicine. New York: John Wiley & Sons, Inc.; 1988;p. 1–12
  38. In:  Bar-Cohen Y editors. Electroactive polymer (EAP) actuators as artificial muscles. Washington: SPIE Press; 2001;
  39. Bar-Cohen Y. EAP applications, potential, and challenges. In:  Bar-Cohen Y editors. Electroactive polymer (EAP) actuators as artificial muscles. Washington: SPIE Press; 2001;p. 616–655
  40. Riley PJ, Wallace GG. Intelligent chemical systems based on conductive electroactive polymers. J Intell Mater Syst Struct. 1991;2:228–238
  41. Keshavarzi A, Shahinpoor M, Kim KJ, Lantz J. Blood pressure, pulse rate, and rhythm measurement using ionic polymer–metal composites sensors. In:  Bar-Cohen Y editors. Proceedings of SPIE - The International Society for Optical Engineering, vol. 3669. 1999;p. 369–376
  42. De Rossi D, Della Santa A, Mazzoldi A. Dressware: wearable hardware. Mater Sci Eng C. 1999;7:31–35
  43. Spinks GM, Wallace GG, Liu L, Zhou D. Conducting polymers electromechanical actuators and strain sensors. Macromol Symp. 2003;192:161–169
  44. Tognetti A, Carpi F, Lorussi F, Mazzoldi A, Orsini R, Scilingo EP, et al. Wearable sensory-motor orthoses for tele-rehabilitation. In: Proceedings of the 25th Annual International Conference of the IEEE EMBS Cancun Mexico September, vol. 4. 2003;p. 3724–3727
  45. Edin BB, Johansson N. Skin strain patterns provide kinaesthetic information to the human central nervous system. J Physiol (Lond). 1995;487:243–251
  46. Collins DF, Refshauge KM, Gandevia SC. Sensory integration in the perception of movements at the human metacarpophalangeal joint. J Physiol (Lond). 2000;529:505–515
  47. Cutkosky MR. Robotic grasping and fine manipulation. Boston: Kluwer Academic Publishers; 1985;
  48. Shimojo M, Namiki A, Ishikawa M, Makino R, Mabuchi K. A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method. IEEE Sen J. 2004;4:589–596
  49. Hussain M, Choa Y, Niihara K. Conductive rubber materials for pressure sensors. J Mater Sci Lett. 2001;20:525–527
  50. Mingrino A, Bucci A, Magni R, Dario P. Slippage control in hand prostheses by sensing grasping forces and sliding motion. IEEE Int Conf Intell Robots Syst. 1994;3:1803–1809
  51. Sasaki K, Hirota T, Fujikake Y, Nakaki H. Signal processing for slip and contact sensing and its application to a two-fingered robotic hand. Integr Computer-Aided Eng. 2001;8:283–291
  52. Tada Y, Hosoda K, Yamasaki Y, Asada M. Sensing the texture of surfaces by anthropomorphic soft fingertips with multi-modal sensors. IEEE Int Conf Intell Robots Syst. 2003;1:31–35
  53. Jiang M, Wang R, Luo Z, Jin D, Zhang J. Myoelectric prosthetic hand with tactile and slip feedback functions. J Tsinghua Univ. 2004;44:1051–1053
  54. Fujimoto I, Yamada Y, Morizono T, Umetani Y, Maeno T. Development of artificial finger skin to detect incipient slip for realization of static friction sensation. In: Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 2003;p. 15–20
  55. Dargahi J. A piezoelectric tactile sensor with three sensing elements for robotic, endoscopic and prosthetic applications. Sensors Actuat A (Phys). 2000;A80:23–30
  56. Shahinpoor M. Potential applications of electroactive polymer sensors and actuators in MEMS technologies. In:  Bar-Cohen Y editors. Proceedings SPIE, Smart Materials, vol. 4234. 2001;p. 203–214
  57. Nemat-Nasser S, Thomas C. Ionomeric polymer–metal composites. In:  Bar-Cohen Y editors. Electroactive polymer (EAP) actuators as Artificial muscles. Washington: SPIE Press; 2001;p. 139–192
  58. Shahinpoor M, Kim KJ. Ionic polymer–metal composites: I. Fundamentals. Smart Mater Struct. 2001;10:819–833
  59. Kwang K, Shahinpoor M. Ionic polymer–metal composites: II. Manufacturing. Smart Mater Struct. 2003;12:65–79
  60. Shahinpoor M, Kim KJ. Ionic polymer–metal composites: III. Modeling and simulation as biomimetic sensors, actuators, transducers, and artificial muscles. Smart Mater Struct. 2004;13:1362–1388
  61. Ferrara L, Shahinpoor M, Kim KJ, Schreyer B, Keshavarzi A, Benzel E, et al. Use of ionic polymer–metal composites (IPMCs) as a pressure transducer in the human spine. In:  Bar-Cohen Y editors. SPIE Conference on Electroactive Polymer Actuators and Devices, vol. 3669. Newport Beach, California, March. 1999;p. 394–401
  62. Konyo M, Konishi Y, Tadokoro S, Kishima T. Development of velocity sensor using ionic polymer–metal composites. In:  Bar-Cohen Y editors. Proceedings of SPIE: Smart Structures and Materials 2004: Electroactive Polymer Actuators and Devices (EAPAD), vol. 5385. 2004;p. 307–318
  63. Keshavarzi A, Shahinpoor M, Kim KJ, Lantz J. Blood pressure, pulse rate, and rhythm measurement using ionic polymer–metal composites sensors. In: SPIE Conference on Electroactive Polymer Actuators and Devices, vol. 3669. Newport Beach, California March. 1999;p. 369–376
  64. Li H, Chen J, Lam KY. Multiphysical modeling and meshless simulation of electric-sensitive hydrogels. Biosens Bioelectron. 2004;19:1097–1107
  65. Li H, Yuana Z, Lam KY, Lee HP, Chena J, Hanes J, et al. Model development and numerical simulation of electric-stimulus-responsive hydrogels subject to an externally applied electric field. J Polym Sci - Part B: Polym Phys. 2004;42:1514–1531
  66. Daubechies I. Orthonormal bases of compactly supported wavelets. Comm Pure Appl Math. 1998;41:909–996
  67. Jacques G. Powered prosthetic hand function: design issues and visual feedback. M.A.Sc. thesis. Dept. of Mech. Eng., University of Toronto, 1994.
  68. Shahinpoor M, Bar-Cohen Y, Simpson JO, Smith J. Ionic polymer–metal composites (IPMCs) as biomimetic sensors, actuators and artificial muscles—a review. Smart Mater Struct. 1998;7:R15–R30
  69. Simone LK, Kamper DG. Design considerations for a wearable monitor to measure finger posture. J NeuroEng Rehabil. 2005;2:5
  70. Johnson KO. The roles and functions of cutaneous mechanoreceptors. Curr Opin Neurobiol. 2001;11:455–461
  71. Birzniek I, Jenmalm P, Goodwin AW, Johansson RS. Encoding of direction of fingertip forces by human tactile afferents. J Neurosci. 2001;21:8222–8237
  72. Johnson KO, Yoshioka T, Vega–Bermudez F. Tactile functions of mechanoreceptive afferents innervating the hand. J Clin Neurophysiol. 2000;17:539–558
  73. Otero TF, Canero I, Villanueva S. EAP as multifunctional and biomimetic materials. In:  Bar-Cohen Y editors. Proceedings of SPIE: Electroactive Polymer Actuators and Devices, Smart Structures and Materials, vol. 3669. 1999;p. 26–34

PII: S1350-4533(05)00212-2

doi: 10.1016/j.medengphy.2005.09.009

Medical Engineering & Physics
Volume 28, Issue 6 , Pages 568-578 , July 2006