Towards a modular and dexterous transhumeral prosthesis based on bio-signals and active vision

The number of individuals suffering from disability caused by congenital limb deficiency or amputation is on the rise and most commercial prostheses are high in cost, low in dexterity and transradial despite the high demand for transhumeral ones. Studies show that the rejection rate is high and that recipients are dissatisfied with the activity variations and respective reachable performance standards. This paper considers the current limitations of prosthesis and proposes an affordable transhumeral design based on bio-signals and active vision system. The overall mechanical design has 10 degrees of freedom, is fully 3D printed and modular. The system is distributed and support multimodal interaction based on bio-signals and active vision system. The prosthesis has configurable level of automation and could autonomously choose the most suitable grip pattern for object handling from a wide range of supported objects.