Design, Analysis, and Control of Prosthetic Hands

Our goal is to improve the functional performance of upper-limb prostheses (e.g., prosthetic hands or arms). We use surface electromyography (EMG) with pattern recognition to enable control. We use vibrotactile, electrotactile, and skin stretch feedback to restore a sense of proprioception and touch. All of this work is done in collaboration with three partners. With Levi Hargrove at the Rehabilitation Institute of Chicago, we study the use of prosthetic hands by people with upper-limb amputations who have received targeted reinnervation. With John Rogers and his research group, we develop flexible, stretchable epidermal electronic sensors that replace standard EMG electrodes. With the Range of Motion Project, we apply our technology to meet the needs of people with upper-limb amputations in Ecuador.


Estimation of distal arm joint angles from EMG and shoulder orientation for transhumeral prostheses

Submitted to the Journal of Electromyography and Kinesiology. Anonymized subject data and analysis code below.

Data & Code: Files



A compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant

Accepted to ICRA 2017. 

Step-by-step instructions on building the hand can be found on the Instructables website



A Low-Cost, Open-Source, Compliant Hand for Enabling Sensorimotor Control for People with Transradial Amputations

Accepted to EMBC 2016. Source, paper, and video below.

PCB Eagle Files (schematics and boards): Motor Driver BoardPressure Sensor BoardEMG Board

Code RepositoryHand Microcontroller Code (Motor Control, Contact Reflexes), Socket Microcontroller Code (EMG Pattern Recognition)

Mechanical Design: Files (STL files for 3D-printed parts and molds, 3D-printer settings)

Bill of Materials

[Paper] [Video]


Automatic Grasp Selection Using a Camera in a hand prosthesis

Accepted to EMBC 2016. Check out the video at the link below.