{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,21]],"date-time":"2026-01-21T09:29:27Z","timestamp":1768987767351,"version":"3.49.0"},"reference-count":48,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2019,9,9]],"date-time":"2019-09-09T00:00:00Z","timestamp":1567987200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["Proc. ACM Interact. Mob. Wearable Ubiquitous Technol."],"published-print":{"date-parts":[[2019,9,9]]},"abstract":"<jats:p>Although many children are born with congenital limb malformation, contemporary functional artificial hands are costly and are not meant to be adapted to growing hand. In this work, we develop a low cost, adaptable and personalizable system of an artificial prosthetic hand accompanied with hardware and software modules. Our solution consists of (i) a consumer grade electromyography (EMG) recording hardware, (ii) a mobile companion device empowered by deep learning classification algorithms, (iii) an cloud component for offloading computations, and (iv) mechanical 3D printed arm operated by the embedded hardware. We focus on the flexibility of the designed system making it more affordable than the alternatives. We use 3D printed materials and open-source software thus enabling the community to contribute and improve the system. In this paper, we describe the proposed system and its components and present the experiments we conducted in order to show the feasibility and applicability of our approach. Extended experimentation shows that our proposal is energy efficient and has high accuracy.<\/jats:p>","DOI":"10.1145\/3351260","type":"journal-article","created":{"date-parts":[[2019,9,10]],"date-time":"2019-09-10T15:58:26Z","timestamp":1568131106000},"page":"1-19","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":17,"title":["Using Deep Learning and Mobile Offloading to Control a 3D-printed Prosthetic Hand"],"prefix":"10.1145","volume":"3","author":[{"given":"Kirill A.","family":"Shatilov","sequence":"first","affiliation":[{"name":"The Hong Kong University of Science and Technology"}]},{"given":"Dimitris","family":"Chatzopoulos","sequence":"additional","affiliation":[{"name":"The Hong Kong University of Science and Technology"}]},{"given":"Alex Wong Tat","family":"Hang","sequence":"additional","affiliation":[{"name":"The Hong Kong University of Science and Technology"}]},{"given":"Pan","family":"Hui","sequence":"additional","affiliation":[{"name":"The Hong Kong University of Science and Technology and University of Helsinki"}]}],"member":"320","published-online":{"date-parts":[[2019,9,9]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.3390\/s140814601"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/MWC.2016.1500157RP"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/2702123.2702501"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2016.00009"},{"key":"e_1_2_2_5_1","doi-asserted-by":"crossref","unstructured":"Manfredo Atzori Arjan Gijsberts Claudio Castellini Barbara Caputo Anne-Gabrielle Mittaz Hager Simone Elsig Giorgio Giatsidis Franco Bassetto and Henning M\u00fcller. 2014. Electromyography data for non-invasive naturally-controlled robotic hand prostheses. Scientific data 1 (2014) 140053.  Manfredo Atzori Arjan Gijsberts Claudio Castellini Barbara Caputo Anne-Gabrielle Mittaz Hager Simone Elsig Giorgio Giatsidis Franco Bassetto and Henning M\u00fcller. 2014. Electromyography data for non-invasive naturally-controlled robotic hand prostheses. Scientific data 1 (2014) 140053.","DOI":"10.1038\/sdata.2014.53"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2014.6944388"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/3214264"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/4\/2\/R03"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/3267242.3267250"},{"key":"e_1_2_2_10_1","doi-asserted-by":"crossref","unstructured":"Barry Berman. 2012. 3-D printing: The new industrial revolution. Business horizons 55 2 (2012) 155--162.  Barry Berman. 2012. 3-D printing: The new industrial revolution. Business horizons 55 2 (2012) 155--162.","DOI":"10.1016\/j.bushor.2011.11.003"},{"key":"e_1_2_2_11_1","unstructured":"Carlos Bermejo and Pan Hui. 2017. A survey on haptic technologies for mobile augmented reality. CoRR abs\/1709.00698 (2017).  Carlos Bermejo and Pan Hui. 2017. A survey on haptic technologies for mobile augmented reality. CoRR abs\/1709.00698 (2017)."},{"key":"e_1_2_2_12_1","doi-asserted-by":"crossref","unstructured":"Elaine A Biddiss and Tom T Chau. 2007. Upper limb prosthesis use and abandonment: a survey of the last 25 years. Prosthetics and orthotics international 31 3 (2007) 236--257.  Elaine A Biddiss and Tom T Chau. 2007. Upper limb prosthesis use and abandonment: a survey of the last 25 years. Prosthetics and orthotics international 31 3 (2007) 236--257.","DOI":"10.1080\/03093640600994581"},{"key":"e_1_2_2_13_1","volume-title":"Future Networking Challenges: The Case of Mobile Augmented Reality. In 2017 IEEE 37th International Conference on Distributed Computing Systems (ICDCS). 1796--1807","author":"Braud T."},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.910708"},{"key":"e_1_2_2_15_1","unstructured":"Nicola Corti. 2019. A RxJava library to access Raw EMG data from Myo band. https:\/\/github.com\/cortinico\/myonnaise  Nicola Corti. 2019. A RxJava library to access Raw EMG data from Myo band. https:\/\/github.com\/cortinico\/myonnaise"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/1814433.1814441"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/3214267"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.891391"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/MVT.2013.2295069"},{"key":"e_1_2_2_20_1","unstructured":"Ian Goodfellow Yoshua Bengio and Aaron Courville. 2016. Deep Learning. MIT Press. http:\/\/www.deeplearningbook.org.   Ian Goodfellow Yoshua Bengio and Aaron Courville. 2016. Deep Learning. MIT Press. http:\/\/www.deeplearningbook.org."},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2009.2039590"},{"key":"e_1_2_2_22_1","unstructured":"Yun Chao Hu Milan Patel Dario Sabella Nurit Sprecher and Valerie Young. 2015. Mobile edge computing\u00e2\u0102&Tbreve;A key technology towards 5G. ETSI white paper 11 11 (2015) 1--16.  Yun Chao Hu Milan Patel Dario Sabella Nurit Sprecher and Valerie Young. 2015. Mobile edge computing\u00e2\u0102&Tbreve;A key technology towards 5G. ETSI white paper 11 11 (2015) 1--16."},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1145\/3267242.3267256"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jhsa.2011.03.015"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/INFCOM.2012.6195845"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11036-012-0368-0"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/2699343.2699349"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2831081"},{"key":"e_1_2_2_29_1","volume-title":"UltraGesture: Fine-Grained Gesture Sensing and Recognition. In 2018 15th Annual IEEE International Conference on Sensing, Communication, and Networking (SECON). IEEE, 1--9.","author":"Ling Kang","year":"2018"},{"key":"e_1_2_2_30_1","unstructured":"R Luff J Forrest and J Huntley. 2009. The amputee statistical database for the United Kingdom. Edinburgh: NASDAB (2009).  R Luff J Forrest and J Huntley. 2009. The amputee statistical database for the United Kingdom. Edinburgh: NASDAB (2009)."},{"key":"e_1_2_2_31_1","unstructured":"Grant McGimpsey and Terry C Bradford. 2008. Limb prosthetics services and devices. Bioengineering Institute Center for Neuroprosthetics Worcester Polytechnic Institution (2008).  Grant McGimpsey and Terry C Bradford. 2008. Limb prosthetics services and devices. Bioengineering Institute Center for Neuroprosthetics Worcester Polytechnic Institution (2008)."},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2010.08.0161"},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0186132"},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000016862.38337.f1"},{"key":"e_1_2_2_35_1","doi-asserted-by":"crossref","unstructured":"Christian Pylatiuk Stefan Schulz and Leonhard D\u00f6derlein. 2007. Results of an Internet survey of myoelectric prosthetic hand users. Prosthetics and orthotics international 31 4 (2007) 362--370.  Christian Pylatiuk Stefan Schulz and Leonhard D\u00f6derlein. 2007. Results of an Internet survey of myoelectric prosthetic hand users. Prosthetics and orthotics international 31 4 (2007) 362--370.","DOI":"10.1080\/03093640601061265"},{"key":"e_1_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/3097895.3097903"},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/INFOCOM.2018.8485905"},{"key":"e_1_2_2_38_1","doi-asserted-by":"publisher","DOI":"10.1145\/3161162"},{"key":"e_1_2_2_39_1","unstructured":"Niklas Rosenstein. 2019. Python bindings for the Myo SDK. https:\/\/github.com\/NiklasRosenstein\/myo-python  Niklas Rosenstein. 2019. Python bindings for the Myo SDK. https:\/\/github.com\/NiklasRosenstein\/myo-python"},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/3267242.3267253"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2016.2525398"},{"key":"e_1_2_2_42_1","doi-asserted-by":"crossref","unstructured":"Ecaterina Vasluian Corry K van der Sluis Anthonie J van Essen Jorieke EH Bergman Pieter U Dijkstra Heleen A Reinders-Messelink and Hermien EK de Walle. 2013. Birth prevalence for congenital limb defects in the northern Netherlands: a 30-year population-based study. BMC musculoskeletal disorders 14 1 (2013) 323.  Ecaterina Vasluian Corry K van der Sluis Anthonie J van Essen Jorieke EH Bergman Pieter U Dijkstra Heleen A Reinders-Messelink and Hermien EK de Walle. 2013. Birth prevalence for congenital limb defects in the northern Netherlands: a 30-year population-based study. BMC musculoskeletal disorders 14 1 (2013) 323.","DOI":"10.1186\/1471-2474-14-323"},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/3191772"},{"key":"e_1_2_2_44_1","doi-asserted-by":"publisher","DOI":"10.1080\/09638280410001708878"},{"key":"e_1_2_2_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/3191783"},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2017.00379"},{"key":"e_1_2_2_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/3240508.3240561"},{"key":"e_1_2_2_48_1","doi-asserted-by":"publisher","DOI":"10.1145\/3191788"}],"container-title":["Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3351260","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3351260","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T00:25:51Z","timestamp":1750206351000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3351260"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,9,9]]},"references-count":48,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2019,9,9]]}},"alternative-id":["10.1145\/3351260"],"URL":"https:\/\/doi.org\/10.1145\/3351260","relation":{},"ISSN":["2474-9567"],"issn-type":[{"value":"2474-9567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,9,9]]},"assertion":[{"value":"2019-09-09","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}