An active, closed-loop stiffness regulation system is being incorporated into a neuroprosthesis for hand grasp for quadriplegic patients. The stiffness regulator controls the activation of the thumb in lateral grasp and the fingers in palmar grasp. The opposing digits are fixed in place by an open-loop system that operates in parallel. A single continuous input specifies the size of grasp opening and the grasp force under a wide range of loading conditions. The parameters of the system can be tuned to specify the static input-output properties of the grasp as well as a stable and rapid response under isometric, compliant and unloaded conditions.
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