Embedded hardware architecture based on microcontrollers for the action and perception of a transradial prosthesis

This paper presents the design of a flexible, embedded control architecture for the action and perception of an anthropomorphic 16 degree of freedom, 4 degree of actuation prosthetic hand for use by transradial amputees. The prosthetic hand is provided with 40 structurally integrated sensors useful both for automatic grasp control and for biofeedback delivery to the user through an appropriate interface (either neural or noninvasive). The paper briefly describes the mechatronic design of the prosthesis, the set of sensors embedded in the hand and finally focuses on the design of the control architecture that allows action and perception for such a sophisticated device.