Sensorized Grip Devices

We have designed and built objects with torque/force sensors to precisely measure biomechanical variables, e.g., fingertip center of pressure and 3D forces (Fig. 1). These devices have been instrumental in understanding critical control phenomena, such as digit force-to-position modulation ^1,2 and the interplay between sensorimotor memory and online feedback. ³

Figure 1. Sensorized grip device used to measure forces and torques in 3 dimensions, and computation of fingertip center of pressure (precision grip). From: Fu et al. (2010). — **Figure 1.** Sensorized grip device used to measure forces and torques in 3 dimensions, and computation of fingertip center of pressure (precision grip). From: Fu et al. (2010).

We have utilized our custom-built devices to generate baseline metrics of physiological control for assessing pathological control features. Clinical applications of these devices include assessment of sensorimotor function in individuals with upper limb loss⁴ (Fig. 2) and carpal tunnel syndrome⁵ (Fig. 3).

Figure 2. Sensorized grip device used to measure multi-digit forces and torques in 3 dimensions. From: Zhang et al. (2012). — **Figure 2.** Sensorized grip device used to measure multi-digit forces and torques in 3 dimensions. From: Zhang et al. (2012).

Figure 3. Sensorized grip device used to measure grip and load forces exerted by a soft-synergy myoelectric prosthetic hand (SoftHand Pro). From: Gailey et al. (2017). — **Figure 3.** Sensorized grip device used to measure grip and load forces exerted by a soft-synergy myoelectric prosthetic hand (SoftHand Pro). From: Gailey et al. (2017).

For more information on these projects contact: Marco Santello

References

Fu Q., Zhang W., and Santello M. (2010). Anticipatory planning and control of grasp positions and Forces for dexterous two-digit manipulation. The Journal of Neuroscience.
Fu Q., Hasan Z., and Santello M. (2011). Transfer of learned manipulation following changes in degrees of freedom. The Journal of Neuroscience.
Mojtahedi K., Fu Q., and Santello M. (2015). Extraction of time and frequency features from grip force rates during dexterous manipulation. IEEE Transaction on Biomedical Engineering.
Gailey A., Godfrey S., Breighner R., Andrews K., Zhao K., Bicchi A., and Santello M. (2017). Grasp performance of a soft synergy-based prosthetic hand: a pilot study. IEEE Transactions on Neural Systems and Rehabilitation Engineering.
Zhang W., Johnston J., Ross M., Coakley B., Gleason E., Dueck A., Santello M. (2012). Effects of Carpal Tunnel Syndrome on adaptation of multi-digit forces to object mass distribution for whole-hand manipulation. Journal of NeuroEngineering and Rehabilitation 9:83.