Although commercially available robotic prosthetic limbs now provide fingers with multiple degrees of freedom (DOFs), closely resembling the human hand, the amount of control channels provided by typical biological signals (electromyography or neural electrodes) [1,2] limits the usability of the prosthetic limb. On the other hand, the Virtual Reality field has had the technology to digitize hand kinematics via a “dataglove” for several decades [3], enabling interactions in virtual environments.

Thus, by combining the two technologies, we developed a system to teleoperate the TouchBionics RoboLimb device with a custom-built 6DOF glove worn on the sound hand. The RoboLimb hand is a 6DOF prosthetic device which weighs under 500 g and can be controlled via a protocol based on the controller area network (CAN) [2].

The purpose of this system is to support on-going work in our laboratory to benefit unilateral amputees...

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