[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-85144-en":3,"doc-seo-85144-105":29,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":21,"language":22,"language_code":23,"site_id":24,"html_lang":23,"table_of_contents":25,"faqs":26,"seo_title":13,"seo_description":14,"update_tm":27,"read_time":28},85144,1374391974468,"Eden","https://ap-avatar.wpscdn.com/davatar_29158cc5080c5b710cf443261637dec0",8,"Research & Report","A Biomimetic Myoelectric Tentacle Prosthesis with Sensorless Object Detection and Vibrotactile Feedback","This paper presents the design and evaluation of a myoelectric tentacle-shaped prosthesis that combines EMG-based control, sensorless object detection, and vibrotactile feedback. The device uses normalized and filtered EMG signals plus a threshold method to infer user intention, driving a biomimetic curling structure based on a logarithmic spiral for object wrapping. Motor-current slope analysis detects object contact without external sensors. Experiments report average 77 ms response time, detection success above 90%, and haptic cues that help users locate the tentacle’s folding zone.","A BIOMIMETIC MYOELECTRIC TENTACLE PROSTHESIS WITH SENSORLESS OBJECT DETECTION AND VIBROTACTILE  \nFEEDBACK  \nA PREPRINT  \narXiv :2607 .09807v 1 [ cs .RO] 9 Jul 2026  \nGabrielle Marion  \nDepartment of Mechanical Engineering Polytechnique Montréal Montréal, Québec, Canada [gabrielle.marion@polymtl.ca](gabrielle.marion@polymtl.ca)  \nAmandine Gesta  \nDepartment of Mechanical Engineering Polytechnique Montréal Montréal, Québec, Canada [amandine.gesta@polymtl.ca](amandine.gesta@polymtl.ca)  \nOlivier Lecompte  \nDepartment of Mechanical Engineering Polytechnique Montréal Montréal, Québec, Canada [olivier.lecompte@polymtl.ca](olivier.lecompte@polymtl.ca)  \n Abolfazl Mohebbi∗  \nDepartment of Mechanical Engineering Polytechnique Montréal Montréal, Québec, Canada [abolfazl.mohebbi@polymtl.ca](abolfazl.mohebbi@polymtl.ca)  \nJuly 14, 2026  \nABSTRACT  \nThis paper presents the design and evaluation of a myoelectric tentacle-shaped prosthesis integrating electromyographic (EMG) control, sensorless object detection, and vibrotactile feedback. The objective was to develop a responsive and intuitive assistive device that adapts to various object shapes while providing sensory feedback to the user. The system relies on EMG signals to control the motion of a flexible, biomimetic structure whose curling geometry follows a logarithmic spiral, enabling it to coil around objects. To ensure stable control, the EMG signal is normalized and filtered, and a threshold-based method identifies user intention. Object contact is detected through a slope-based analysis of motor current, eliminating the need for external sensors, and a haptic feedback strategy based on cumulative vibrotactile stimulation conveys spatial information about the tentacle’s configuration. The system was evaluated through quantitative and qualitative tests. The results demonstrate a low response time (77ms on average), enabling smooth real-time interaction;  \nan object-detection success rate above 90%, confirming robustness despite EMG variability; and an effective haptic feedback strategy that allowed users to reliably identify the folding zone of the tentacle. The proposed biomimetic design promotes further investigation of expressive artificial limbs by prioritizing expressive functionality over adherence to a predefined, anthropomorphic form factor.  \nKeywords myoelectric prosthesis · haptic feedback · vibrotactile feedback · sensorless object detection · biomimetic soft robotics  \n1 Introduction  \nTrauma is the leading cause of upper limb loss, accounting for roughly 80% of acquired amputations, with most cases occurring in men aged 15 to 45 years [1] . The event often entails the sudden loss of an active and independent lifestyle. The everyday tasks usually performed effortlessly such as grasping objects, manipulating tools, and performing self-care, suddenly require assistance. This abrupt change frequently contributes to depression, loss of self-esteem, and social  \n*  \nCorresponding author. Associate Professor, Director of the Polytechnique Lab for Assistive and Rehabilitation technologies (POLAR), Polytechnique Montréal. Email: [polar@polymtl.ca](polar@polymtl.ca).  \nisolation, and acceptance of an altered body image is a recognized difficulty during the post-amputation phase [2] . Restoring mobility through a prosthetic device is therefore a primary goal, not only to recover independence in daily activities but also to support the self-perception and psychological well-being of amputees.  \nDepending on user needs, the complexity of the device ranges from a cosmetic prosthesis to a high-technology robotic hand. Three main categories are currently available to patients [3, 4]: Passive prosthetic arms are often preferred when the primary goal is to restore the appearance of the missing limb; while they can be placed in a limited number of configurations, they provide no active degrees of freedom and do not contribute to dexterous tasks. Body-powered prostheses offer an alternati","cbCaivJz7K4JWqvq","https://ap.wps.com/l/cbCaivJz7K4JWqvq","pdf",5337427,1,13,"English","en",105,"# Abstract\n# Introduction\n## Prosthetic limb loss and rehabilitation needs\n## Current prosthesis categories and limitations\n## Role of sensory feedback and haptics","[{\"question\":\"How does the prosthesis detect the user’s intention to move?\",\"answer\":\"It relies on EMG signals that are normalized and filtered, then uses a threshold-based method to identify user intention for motion control.\"},{\"question\":\"How is object contact detected without external sensors?\",\"answer\":\"Object contact is detected through a slope-based analysis of motor current, removing the need for additional external sensing hardware.\"},{\"question\":\"What performance outcomes were reported in the evaluation?\",\"answer\":\"Quantitative and qualitative tests show an average response time of 77 ms, object-detection success above 90%, and vibrotactile feedback that helps users reliably identify the tentacle’s folding 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does the prosthesis detect the user’s intention to move?","Question",{"text":75,"@type":76},"It relies on EMG signals that are normalized and filtered, then uses a threshold-based method to identify user intention for motion control.","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"How is object contact detected without external sensors?",{"text":80,"@type":76},"Object contact is detected through a slope-based analysis of motor current, removing the need for additional external sensing hardware.",{"name":82,"@type":73,"acceptedAnswer":83},"What performance outcomes were reported in the evaluation?",{"text":84,"@type":76},"Quantitative and qualitative tests show an average response time of 77 ms, object-detection success above 90%, and vibrotactile feedback that helps users reliably identify the tentacle’s folding 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