Tag Archives: pain-detection

Pioneering bionic hand achieves human-like grip on plush toys, water bottles, and other everyday objects

This is not a biohybrid hand incorporating ‘living’ and nonliving materials but a hybrid hand incorporating soft and rigid robotics.

A March 5, 2025 news item on ScienceDaily announces work from Johns Hopkins University (JHU; Maryland, US),

Johns Hopkins University engineers have developed a pioneering prosthetic hand that can grip plush toys, water bottles, and other everyday objects like a human, carefully conforming and adjusting its grasp to avoid damaging or mishandling whatever it holds.

The system’s hybrid design is a first for robotic hands, which have typically been too rigid or too soft to replicate a human’s touch when handling objects of varying textures and materials. The innovation offers a promising solution for people with hand loss and could improve how robotic arms interact with their environment.

A March 5, 2025 Johns Hopkins University (JHU) news release (also on EurekAlert), which originated the news item, provides more details, Note: Links have been removed,

“The goal from the beginning has been to create a prosthetic hand that we model based on the human hand’s physical and sensing capabilities—a more natural prosthetic that functions and feels like a lost limb,” said Sriramana Sankar, a Johns Hopkins biomedical engineer who led the work. We want to give people with upper-limb loss the ability to safely and freely interact with their environment, to feel and hold their loved ones without concern of hurting them.”

The device, developed by the same Neuroengineering and Biomedical Instrumentations Lab that in 2018 created the world’s first electronic “skin” with a humanlike sense of pain [mentioned here in a December 14, 2018 posting], features a multifinger system with rubberlike polymers and a rigid 3D-printed internal skeleton. Its three layers of tactile sensors, inspired by the layers of human skin, allow it to grasp and distinguish objects of various shapes and surface textures, rather than just detect touch. Each of its soft air-filled finger joints can be controlled with the forearm’s muscles, and machine learning algorithms focus the signals from the artificial touch receptors to create a realistic sense of touch, Sankar said. “The sensory information from its fingers is translated into the language of nerves to provide naturalistic sensory feedback through electrical nerve stimulation.”

In the lab, the hand identified and manipulated 15 everyday objects, including delicate stuffed toys, dish sponges, and cardboard boxes, as well as pineapples, metal water bottles, and other sturdier items. In the experiments, the device achieved the best performance compared with the alternatives, successfully handling objects with 99.69% accuracy and adjusting its grip as needed to prevent mishaps. The best example was when it nimbly picked up a thin, fragile plastic cup filled with water, using only three fingers without denting it.

“We’re combining the strengths of both rigid and soft robotics to mimic the human hand,” Sankar said. “The human hand isn’t completely rigid or purely soft—it’s a hybrid system, with bones, soft joints, and tissue working together. That’s what we want our prosthetic hand to achieve. This is new territory for robotics and prosthetics, which haven’t fully embraced this hybrid technology before. It’s being able to give a firm handshake or pick up a soft object without fear of crushing it.”

To help amputees regain the ability to feel objects while grasping, prostheses will need three key components: sensors to detect the environment, a system to translate that data into nerve-like signals, and a way to stimulate nerves so the person can feel the sensation, said Nitish Thakor, a Johns Hopkins biomedical engineering professor who directed the work.

The bioinspired technology allows the hand to function this way, using muscle signals from the forearm, like most hand prostheses. These signals bridge the brain and nerves, allowing the hand to flex, release, or react based on its sense of touch. The result is a robotic hand that intuitively “knows” what it’s touching, much like the nervous system does, Thakor said.

“If you’re holding a cup of coffee, how do you know you’re about to drop it? Your palm and fingertips send signals to your brain that the cup is slipping,” Thakor said. “Our system is neurally inspired—it models the hand’s touch receptors to produce nervelike messages so the prosthetics’ ‘brain,’ or its computer, understands if something is hot or cold, soft or hard, or slipping from the grip.”

While the research is an early breakthrough for hybrid robotic technology that could transform both prosthetics and robotics, more work is needed to refine the system, Thakor said. Future improvements could include stronger grip forces, additional sensors, and industrial-grade materials.

“This hybrid dexterity isn’t just essential for next-generation prostheses,” Thakor said. “It’s what the robotic hands of the future need because they won’t just be handling large, heavy objects. They’ll need to work with delicate materials such as glass, fabric, or soft toys. That’s why a hybrid robot, designed like the human hand, is so valuable—it combines soft and rigid structures, just like our skin, tissue, and bones.” 

Other authors include Wen-Yu Cheng of Florida Atlantic University; Jinghua Zhang, Ariel Slepyan, Mark M. Iskarous, Rebecca J. Greene, Rene DeBrabander, and Junjun Chen of Johns Hopkins; and Arnav Gupta of the University of Illinois Chicago.

Here’s a link to and a citation for the paper,

A natural biomimetic prosthetic hand with neuromorphic tactile sensing for precise and compliant grasping by Sriramana Sankar, Wen-Yu Cheng, Jinghua Zhang, Ariel Slepyan, Mark M. Iskarous, Rebecca J. Greene, Rene DeBrabander, Junjun Chen, Arnav Gupta, and Nitish V. Thakor. Science Advances 5 Mar 2025 Vol 11, Issue 10 DOI: 10.1126/sciadv.adr9300

This paper is open access.

Prosthetic pain

“Feeling no pain” can be a euphemism for being drunk. However, there are some people for whom it’s not a euphemism and they literally feel no pain for one reason or another. One group of people who feel no pain are amputees and a researcher at Johns Hopkins University (Maryland, US) has found a way so they can feel pain again.

A June 20, 2018 news item on ScienceDaily provides an introduction to the research and to the reason for it,

Amputees often experience the sensation of a “phantom limb” — a feeling that a missing body part is still there.

That sensory illusion is closer to becoming a reality thanks to a team of engineers at the Johns Hopkins University that has created an electronic skin. When layered on top of prosthetic hands, this e-dermis brings back a real sense of touch through the fingertips.

“After many years, I felt my hand, as if a hollow shell got filled with life again,” says the anonymous amputee who served as the team’s principal volunteer tester.

Made of fabric and rubber laced with sensors to mimic nerve endings, e-dermis recreates a sense of touch as well as pain by sensing stimuli and relaying the impulses back to the peripheral nerves.

A June 20, 2018 Johns Hopkins University news release (also on EurekAlert), which originated the news item, explores the research in more depth,

“We’ve made a sensor that goes over the fingertips of a prosthetic hand and acts like your own skin would,” says Luke Osborn, a graduate student in biomedical engineering. “It’s inspired by what is happening in human biology, with receptors for both touch and pain.

“This is interesting and new,” Osborn said, “because now we can have a prosthetic hand that is already on the market and fit it with an e-dermis that can tell the wearer whether he or she is picking up something that is round or whether it has sharp points.”

The work – published June 20 in the journal Science Robotics – shows it is possible to restore a range of natural, touch-based feelings to amputees who use prosthetic limbs. The ability to detect pain could be useful, for instance, not only in prosthetic hands but also in lower limb prostheses, alerting the user to potential damage to the device.

Human skin contains a complex network of receptors that relay a variety of sensations to the brain. This network provided a biological template for the research team, which includes members from the Johns Hopkins departments of Biomedical Engineering, Electrical and Computer Engineering, and Neurology, and from the Singapore Institute of Neurotechnology.

Bringing a more human touch to modern prosthetic designs is critical, especially when it comes to incorporating the ability to feel pain, Osborn says.

“Pain is, of course, unpleasant, but it’s also an essential, protective sense of touch that is lacking in the prostheses that are currently available to amputees,” he says. “Advances in prosthesis designs and control mechanisms can aid an amputee’s ability to regain lost function, but they often lack meaningful, tactile feedback or perception.”

That is where the e-dermis comes in, conveying information to the amputee by stimulating peripheral nerves in the arm, making the so-called phantom limb come to life. The e-dermis device does this by electrically stimulating the amputee’s nerves in a non-invasive way, through the skin, says the paper’s senior author, Nitish Thakor, a professor of biomedical engineering and director of the Biomedical Instrumentation and Neuroengineering Laboratory at Johns Hopkins.

“For the first time, a prosthesis can provide a range of perceptions, from fine touch to noxious to an amputee, making it more like a human hand,” says Thakor, co-founder of Infinite Biomedical Technologies, the Baltimore-based company that provided the prosthetic hardware used in the study.

Inspired by human biology, the e-dermis enables its user to sense a continuous spectrum of tactile perceptions, from light touch to noxious or painful stimulus. The team created a “neuromorphic model” mimicking the touch and pain receptors of the human nervous system, allowing the e-dermis to electronically encode sensations just as the receptors in the skin would. Tracking brain activity via electroencephalography, or EEG, the team determined that the test subject was able to perceive these sensations in his phantom hand.

The researchers then connected the e-dermis output to the volunteer by using a noninvasive method known as transcutaneous electrical nerve stimulation, or TENS. In a pain-detection task, the team determined that the test subject and the prosthesis were able to experience a natural, reflexive reaction to both pain while touching a pointed object and non-pain when touching a round object.

The e-dermis is not sensitive to temperature–for this study, the team focused on detecting object curvature (for touch and shape perception) and sharpness (for pain perception). The e-dermis technology could be used to make robotic systems more human, and it could also be used to expand or extend to astronaut gloves and space suits, Osborn says.

The researchers plan to further develop the technology and better understand how to provide meaningful sensory information to amputees in the hopes of making the system ready for widespread patient use.

Johns Hopkins is a pioneer in the field of upper limb dexterous prostheses. More than a decade ago, the university’s Applied Physics Laboratory led the development of the advanced Modular Prosthetic Limb, which an amputee patient controls with the muscles and nerves that once controlled his or her real arm or hand.

In addition to the funding from Space@Hopkins, which fosters space-related collaboration across the university’s divisions, the team also received grants from the Applied Physics Laboratory Graduate Fellowship Program and the Neuroengineering Training Initiative through the National Institute of Biomedical Imaging and Bioengineering through the National Institutes of Health under grant T32EB003383.

The e-dermis was tested over the course of one year on an amputee who volunteered in the Neuroengineering Laboratory at Johns Hopkins. The subject frequently repeated the testing to demonstrate consistent sensory perceptions via the e-dermis. The team has worked with four other amputee volunteers in other experiments to provide sensory feedback.

Here’s a video about this work,

Sarah Zhang’s June 20, 2018 article for The Atlantic reveals a few more details while covering some of the material in the news release,

Osborn and his team added one more feature to make the prosthetic hand, as he puts it, “more lifelike, more self-aware”: When it grasps something too sharp, it’ll open its fingers and immediately drop it—no human control necessary. The fingers react in just 100 milliseconds, the speed of a human reflex. Existing prosthetic hands have a similar degree of theoretically helpful autonomy: If an object starts slipping, the hand will grasp more tightly. Ideally, users would have a way to override a prosthesis’s reflex, like how you can hold your hand on a stove if you really, really want to. After all, the whole point of having a hand is being able to tell it what to do.

Here’s a link to and a citation for the paper,

Prosthesis with neuromorphic multilayered e-dermis perceives touch and pain by Luke E. Osborn, Andrei Dragomir, Joseph L. Betthauser, Christopher L. Hunt, Harrison H. Nguyen, Rahul R. Kaliki, and Nitish V. Thakor. Science Robotics 20 Jun 2018: Vol. 3, Issue 19, eaat3818 DOI: 10.1126/scirobotics.aat3818

This paper is behind a paywall.