Research Projects

A Low-Cost Haptic Feedback Interface for a 3D Printed Prosthetic Hand

Yair Herbst, Derick Sivakumaran, Yoav Medan, and Alon Wolf

For children who lack an upper limb, the usage of a prosthesis is a promising way to improve the quality of life. However, rejection rate amongst users of prosthetic devices is high, besides other causes, due to high cost, high weight, lack of social acceptance and lack of sensory feedback. The growing availability and improvements of 3D printers offer a solution to some of these issues and many designs were created but to the best of our knowledge without addressing the issue if sensory feedback. In this paper we present a low-cost, 3D printed, motorized prosthetic hand design with a haptic feedback interface based on a modality-matched approach. The design was validated using an adapter for able bodied users and an interface used to log the data. A relation between applied force and feedback signal could be verified and was used to optimize and calibrate the feedback parameters. Moreover, analyzing the feedback when pressing a hard object compared to a soft object, yielded a noticeable difference in outcome. The entire design and interface are shared online freely and offer a platform for experiments on haptic feedback for prosthetic hands. The promising results show that the low-cost haptic feedback interface performs as expected and based on previous research could potentially improve the functionality of a prosthesis and thereby improve the quality of life of children with an upper limb deficiency.


Body Powered design files:


Motorized design files:


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Sensory feedback hand