Exploring Silicone Rubber Skin with Embedded Customizable Shape Capacitive Sensors to Enable Haptic Capabilities on Upper Limb Prosthetics.

Commercially available electromechanical prosthetic devices still lack touch-sensing capabilities, and there is a huge gap between research devices and commercially available ones. There is a need for small flexible touch sensors with high accuracy and sensitivity for this type of device. Touch sensors in prosthetic devices are needed for feedback mechanisms to the user and to achieve high dexterity in control schemes for fragile objects. A brief review of prosthetic touch sensors is presented, addressing desirable characteristics for touch sensing. In this paper, a custom shape flexible capacitive touch sensor is designed and characterized, meeting prosthetic sensors needs, such as thickness, power consumption, accuracy, repeatability, and stability. The designed sensor presented the capability to distinguish up to 0.5N steps with good stability. The sensor accomplished a full sensing range between 5N and 100N with reasonable accuracy, and hysteresis analysis achieved an average of 8.8 %. Clinical Relevance- The custom shape capacitive sensors proposed in this paper contribute to the development of tactile sensors for prosthetic devices as more accurate and sensitive sensor interfaces are required to detect and improve manipulating capabilities.