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Visual feedback plays a crucial role in the process of amputation patientscompleting grasping in the field of prosthesis control. However, for blind andvisually impaired (BVI) amputees, the loss of both visual and graspingabilities makes the "easy" reach-and-grasp task a feasible challenge. In thispaper, we propose a novel multi-sensory prosthesis system helping BVI amputeeswith sensing, navigation and grasp operations. It combines modules of voiceinteraction, environmental perception, grasp guidance, collaborative control,and auditory/tactile feedback. In particular, the voice interaction modulereceives user instructions and invokes other functional modules according tothe instructions. The environmental perception and grasp guidance moduleobtains environmental information through computer vision, and feedbacks theinformation to the user through auditory feedback modules (voice prompts andspatial sound sources) and tactile feedback modules (vibration stimulation).The prosthesis collaborative control module obtains the context information ofthe grasp guidance process and completes the collaborative control of graspgestures and wrist angles of prosthesis in conjunction with the user's controlintention in order to achieve stable grasp of various objects. This paperdetails a prototyping design (named viia-hand) and presents its preliminaryexperimental verification on healthy subjects completing specificreach-and-grasp tasks. Our results showed that, with the help of our newdesign, the subjects were able to achieve a precise reach and reliable grasp ofthe target objects in a relatively cluttered environment. Additionally, thesystem is extremely user-friendly, as users can quickly adapt to it withminimal training.

Viia-hand: a Reach-and-grasp Restoration System Integrating Voice interaction, Computer vision and Auditory feedback for Blind Amputees