Sensor fusion for a robust hand prosthesis and exoskeleton control system: A concept proposal

Földi, Sándor and Kiss, Réka and Köves, Áron Boldizsár and da Rocha Almeida, Joao Anastácio and Koller, Miklós (2025) Sensor fusion for a robust hand prosthesis and exoskeleton control system: A concept proposal. In: Design and Assessment Wearable Robotics (DAWR) - IEEE EMBC workshop, 16. July 2025., Copenhagen, Denmark.

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Abstract

This paper introduces a conceptual plan for a trimodal forearm prosthetic or exoskeleton interface. The main design approach is user-centered in the sense that tries to maximally make the most out of prior anatomical and physiological knowledge. The three modalities include high density surface electromyography (HD sEMG), amplitude-mode ultrasound (A-mode US) and near infrared spectroscopy (NIRS). The first candidate place for measurement is the forearm, as both finger-supporting exoskeletons and hand prosthesis solutions could leave the measurement surface site free, not causing any surface stretch, mechanical pressure, and other disturbing effects for the measurements.

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