{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,15]],"date-time":"2026-10-15T16:31:49Z","timestamp":1792081909278,"version":"4.4.0"},"reference-count":44,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2023,3,2]],"date-time":"2023-03-02T00:00:00Z","timestamp":1677715200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Micromachines"],"abstract":"<jats:p>The following research proposes a closed loop force control system, which is implemented on a soft robotic prosthetic hand. The proposed system uses a force sensing approach that does not require any sensing elements to be embedded in the prosthetic\u2019s fingers, therefore maintaining their monolithic structural integrity, and subsequently decreasing the cost and manufacturing complexity. This is achieved by embedding an aluminum test specimen with a full bridge strain gauge circuit directly inside the actuator\u2019s housing rather than in the finger. The location of the test specimen is precisely at the location of the critical section of the bending moment on the actuator housing due to the tension in the driving tendon. Therefore, the resulting loadcell can acquire a signal proportional to the prosthetic\u2019s grasping force. A PI controller is implemented and tested using this force sensing approach. The experiment design includes a flexible test object, which serves to visually demonstrate the force controller\u2019s performance through the deformation that the test object experiences. Setpoints corresponding to \u201clight\u201d, \u201cmedium\u201d, and \u201chard\u201d grasps were tested with pinch, tripod, and full grasps and the results of these tests are documented in this manuscript. The developed controller was found to have an accuracy of \u00b12%. Additionally, the deformation of the test object increased proportionally with the given grasp force setpoint, with almost no deformation during the light grasp test, slight deformation during the medium grasp test, and relatively large deformation of the test object during the hard grasp test.<\/jats:p>","DOI":"10.3390\/mi14030596","type":"journal-article","created":{"date-parts":[[2023,3,3]],"date-time":"2023-03-03T02:27:25Z","timestamp":1677810445000},"page":"596","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["An Improved Approach for Grasp Force Sensing and Control of Upper Limb Soft Robotic Prosthetics"],"prefix":"10.3390","volume":"14","author":[{"given":"Hazem","family":"Bayoumi","sequence":"first","affiliation":[{"name":"Mechatronics Department, Faculty of Engineering, Ain Shams University, Cairo 11517, Egypt"},{"name":"HB Tec, Heliopolis, Cairo 4470351, Egypt"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohammed Ibrahim","family":"Awad","sequence":"additional","affiliation":[{"name":"Mechatronics Department, Faculty of Engineering, Ain Shams University, Cairo 11517, Egypt"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8641-9985","authenticated-orcid":false,"given":"Shady A.","family":"Maged","sequence":"additional","affiliation":[{"name":"Mechatronics Department, Faculty of Engineering, Ain Shams University, Cairo 11517, Egypt"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"103677","DOI":"10.1016\/j.mechmachtheory.2019.103677","article-title":"Robotic hand: A review on linkage-driven finger mechanisms of prosthetic hands and evaluation of the performance criteria","volume":"145","author":"Reza","year":"2020","journal-title":"Mech. 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