Innovating Accessibility: Development of a Low-Cost 3D Printed Soft Robotic Prosthetic Hand with Integrated Metamaterial for Enhanced Sensory Feedback

Abstract

This study introduces a novel approach to soft robotic prosthetics, focusing on a low-cost 3D printed prosthetic hand integrated with a metamaterial for enhanced sensory feedback, aimed at assisting amputees in daily activities. Leveraging monolithic construction, the research emphasizes creating a lightweight, compact, and cost-efficient design without sacrificing functionality. Incorporating a metamaterial-based force sensor into the prosthetic hand allows for improved data acquisition, enhancing the hand's sensing capabilities. Initial research involved reviewing existing designs and theoretical analysis of soft robotics kinematics to understand deformation behaviors and motion prediction of the prosthetic fingers. Design choices were guided by criteria such as cost, accuracy, simplicity, and biocompatibility, settling on a DC servo motor and tendon cable actuation system controlled by an EMG armband sensor and microcontroller. The use of FDM printing with TPU90 material was selected for its balance of flexibility and performance, ensuring the prosthetic's biocompatibility. The proposed design, estimated to cost between $413-$491, represents an innovative solution in the field of assistive technology, with the final prototype and testing planned for further development stages.