Silicone-Dampened FSR for Novel Residual Stump Movement-Based Prosthetic Arm Control

Title: Silicone-Dampened FSR for Novel Residual Stump Movement-Based Prosthetic Arm Control
Author: Benish Jan, Iqbal Kagdi, Mudra Chavda, Shahid Malik
Affiliation: Indian Institute of Technology Delhi, India
Abstract: This work is related to a novel HMI for trans-radial prosthetic arm that leverages the residual limb or stump movements to produce control signals through an FSR array integrated into the prosthetic socket, thus ensuring total independence from muscle-related variability. However, FSRs have an intrinsic nonlinear response, which is characterized by high sensitivity at low forces that may result in unintentional actuation and saturation at large forces, making reliable control difficult. In order to absorb low-force variations and transmit higher forces, this work proposes a mechanical damping solution: a compliant silicone layer placed on top of the FSR surface. Experimental results reveal that a 2 mm silicon layer increases the actuation threshold from 2 N to 4 N, decreases low force sensitivity with 58\% force absorption efficiency at 2 N, and delays saturation by 3N, overcoming the main challenges in Resistive Polymer Thick Film (RPTF)-based FSR sensors. This method provides stable, low-cost prosthesis control independent of muscle variability and obviates low force movements due to inadvertent limb movements.

Видео Silicone-Dampened FSR for Novel Residual Stump Movement-Based Prosthetic Arm Control канала IEEE Sensors