Sistema de retroalimentación sensorial vibrotáctil y neumática no invasiva y accesible para prótesis transradial

Abstract

La falta de retroalimentación sensorial en prótesis de miembro superior es una de las principales causas de abandono. Esta limitación impide que los usuarios reciban información sensorial al manipular objetos, lo que genera ineficiencia. Actualmente, los sistemas disponibles son costosos o invasivos. En este proyecto se desarrolló un sistema de retroalimentación sensorial no invasiva y accesible para prótesis transradiales, combinando sensores de fuerza con tecnologías vibrotáctiles y neumática. Se utilizaron sensores de fuerza sobre encajes para dedos impresos en 3D para controlar la intensidad de la retroalimentación. La funcionalidad se evaluó mediante pruebas con objetos, observando una correlación entre la fuerza aplicada, la respuesta sonora y el nivel de vibración.

The lack of sensory feedback in upper-limb prostheses is one of the main causes of device abandonment, with 85% of users considering it an important factor. This limitation prevents users from receiving any kind of sensory information when grasping and manipulating objects, which can lead to inefficiencies and errors in prosthesis use. Currently, sensory feedback is not available in commercial devices, and the implantable subdermal systems under development require complex surgical procedures, making them highly costly and invasive. A device capable of providing information about the hardness of an object in an epidermal and low-cost manner could significantly improve users’ quality of life and facilitate the control of a prosthesis. In this project, a non-invasive and accessible sensory feedback system was developed for transradial prostheses, combining force sensors with vibrotactile and pneumatic technologies. Force sensors were placed on 3D-printed finger sockets, allowing control over the intensity of the sensory feedback. The vibrotactile feedback was implemented using vibration motors and a 3D-printed base, while for the pneumatic feedback, the actuator’s performance was simulated. The functionality of the vibrotactile system was evaluated through tests in which a participant grasped various objects, measuring both the sound response and the vibration intensity reported by the subject. A strong correlation was found between force measured and sound response and vibration intensity described by the participant.