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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2503.17846 |
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| _version_ | 1866912477962305536 |
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| author | Zadok, Dean Salzman, Oren Wolf, Alon Bronstein, Alex M. |
| author_facet | Zadok, Dean Salzman, Oren Wolf, Alon Bronstein, Alex M. |
| contents | Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face limitations such as muscle-activation limitations, high cost, and complex calibrations. In this paper, we present a low-cost robotic system composed of a smart ankleband for intuitive, calibration-free control of a robotic hand, and a robotic prosthetic hand that executes actions corresponding to leg gestures. The ankleband integrates an Inertial Measurement Unit (IMU) sensor with a lightweight neural network to infer user-intended leg gestures from motion data. Our system represents a significant step towards higher adoption rates of robotic prostheses among arm amputees, as it enables one to operate a prosthetic hand using a low-cost, low-power, and calibration-free solution. To evaluate our work, we collected data from 10 subjects and tested our prototype ankleband with a robotic hand on an individual with an upper-limb amputation. Our results demonstrate that this system empowers users to perform daily tasks more efficiently, requiring few compensatory movements. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_17846 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Smart Ankleband for Plug-and-Play Hand-Prosthetic Control Zadok, Dean Salzman, Oren Wolf, Alon Bronstein, Alex M. Robotics Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face limitations such as muscle-activation limitations, high cost, and complex calibrations. In this paper, we present a low-cost robotic system composed of a smart ankleband for intuitive, calibration-free control of a robotic hand, and a robotic prosthetic hand that executes actions corresponding to leg gestures. The ankleband integrates an Inertial Measurement Unit (IMU) sensor with a lightweight neural network to infer user-intended leg gestures from motion data. Our system represents a significant step towards higher adoption rates of robotic prostheses among arm amputees, as it enables one to operate a prosthetic hand using a low-cost, low-power, and calibration-free solution. To evaluate our work, we collected data from 10 subjects and tested our prototype ankleband with a robotic hand on an individual with an upper-limb amputation. Our results demonstrate that this system empowers users to perform daily tasks more efficiently, requiring few compensatory movements. |
| title | Smart Ankleband for Plug-and-Play Hand-Prosthetic Control |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.17846 |