Designing Prosthetic Hands With Embodied Intelligence: The KIT Prosthetic Hands.

Hand prostheses should provide functional replacements of lost hands. Yet current prosthetic hands often are not intuitive to control and easy to use by amputees. Commercially available prostheses are usually controlled based on EMG signals triggered by the user to perform grasping tasks. Such EMG-based control requires long training and depends heavily on the robustness of the EMG signals. Our goal is to develop prosthetic hands with semi-autonomous grasping abilities that lead to more intuitive control by the user. In this paper, we present the development of prosthetic hands that enable such abilities as first results toward this goal. The developed prostheses provide intelligent mechatronics including adaptive actuation, multi-modal sensing and on-board computing resources to enable autonomous and intuitive control. The hands are scalable in size and based on an underactuated mechanism which allows the adaptation of grasps to the shape of arbitrary objects. They integrate a multi-modal sensor system including a camera and in the newest version a distance sensor and IMU. A resource-aware embedded system for in-hand processing of sensory data and control is included in the palm of each hand. We describe the design of the new version of the hands, the female hand prosthesis with a weight of 377 g, a grasping force of 40.5 N and closing time of 0.73 s. We evaluate the mechatronics of the hand, its grasping abilities based on the YCB Gripper Assessment Protocol as well as a task-oriented protocol for assessing the hand performance in activities of daily living. Further, we exemplarily show the suitability of the multi-modal sensor system for sensory-based, semi-autonomous grasping in daily life activities. The evaluation demonstrates the merit of the hand concept, its sensor and in-hand computing systems.

Envilab: Measuring phytoplankton in-vivo absorption and scattering properties under tunable environmental conditions.

Optical remote sensing of phytoplankton draws on distinctive spectral features which can vary with both species and environmental conditions. Here, we present a set-up (Envilab) for growing phytoplankton under well-defined light, temperature and nutrient conditions. The custom-built light source enables creation of light with spectral composition similar to natural aquatic environments. Spectral tuning allows for light quality studies. Attenuation is monitored with a spectrometer in transmission mode. In combination with automated spectrophotometer and fluorimeter measurements, absorption and excitation-emission-fluorescence spectra are recorded. The set-up opens the door for systematic studies on phytoplankton optical properties and physiology.