触觉假肢手的多功能共享控制策略，助力断肢患者实现“一次多抓”及“柔性物体操作-挤牙膏”等任务

Core Viewpoint - The article discusses the development of a tactile sensing-based shared control strategy for prosthetic hands, which enhances the precision of control for amputees while reducing fatigue, thereby improving the acceptance of myoelectric prosthetic hands [1][2]. Group 1: Tactile Sensing Technology - Tactile sensing technology enables prosthetic hands to detect contact, prevent slipping, and adjust grip strength, assisting users in daily tasks such as pouring water, drinking, and handling objects [1]. - The proposed shared control strategy incorporates multi-stage grasping and force level switching functions to help amputees perform multi-object sorting tasks more efficiently [2]. Group 2: Research Framework - The overall framework of the tactile sensing-based shared control strategy includes three main components: gesture recognition to decode user intent, activation of pre-shaping and stable grasping functions based on contact state detection, and determination of force level switching or multi-stage grasping based on gesture consistency [3]. - The autonomous control module is responsible for determining the activated functions and generating corresponding motor commands based on user intent and fingertip tactile sensing [3]. Group 3: User Study - A user study involved 8 able-bodied participants and 3 upper-limb amputees, focusing on three common daily activities: multi-object sorting, filling a cup with water, and squeezing toothpaste [4]. - Results indicated that the multi-stage grasping function significantly improved operational efficiency (shorter completion time), while the force level switching function enhanced operational quality (higher success rate), effectively reducing muscle usage and receiving positive feedback from users [4]. Group 4: Discussion and Future Directions - The study emphasizes the need for a comprehensive evaluation of new prosthetic hand functions, including task performance, control burden, and usability measurements [5]. - User-centered assessments are established as crucial for evaluating prosthetic systems, highlighting the importance of understanding user willingness to activate and accept new functions in the design of prosthetic hands [5].