A Control Architecture for Grasp Strength Regulation in Myocontrolled Robotic Hands Using Vibrotactile Feedback: Preliminary Results.

Nowadays, electric-powered hand prostheses do not provide adequate sensory instrumentation and artificial feedback to allow users voluntarily and finely modulate the grasp strength applied to the objects. In this work, the design of a control architecture for a myocontrol-based regulation of the grasp strength for a robotic hand equipped with contact force sensors is presented. The goal of the study was to provide the user with the capability of modulating the grasping force according to target required levels by exploiting a vibrotactile feedback.