Toward Biosignals-Free Autonomous Prosthetic Hand Control via Imitation Learning

Abstract

Limb loss affects millions globally, impairing physical function and reducing quality of life. Most traditional surface electromyographic (sEMG) and semi-autonomous methods require users to generate myoelectric signals for each control, imposing physically and mentally taxing demands. This study aims to develop a fully autonomous control system that enables a prosthetic hand to automatically grasp and release objects of various shapes using only a camera attached to the wrist. By placing the hand near an object, the system will automatically execute grasping actions with a proper grip force in response to the hand’s movements and the environment. To release the object being grasped, just naturally place the object close to the table and the system will automatically open the hand. Such a system would provide individuals with limb loss with a very easy-to-use prosthetic control interface and may help reduce mental effort while using. To achieve this goal, we developed a teleoperation system to collect human demonstration data for training the prosthetic hand control model using imitation learning, which mimics the prosthetic hand actions from human. By training the model on data from a limited set of objects collected from a single participant’s demonstration, we showed that the imitation learning algorithm can achieve high success rates and generalize effectively to new users and previously unseen objects with varying weights. The demonstrations are available at https://sites.google.com/view/autonomous-prosthetic-hand