NDLI: Progress in the biomechatronic design and control of a hand prosthesis

Content Provider	IEEE Xplore Digital Library
Author	Xinqing Wang Yiwei Liu Dapeng Yang Nan Li Li Jiang Hong Liu
Copyright Year	2010
Description	Author affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001, China (Xinqing Wang; Yiwei Liu; Dapeng Yang; Nan Li; Li Jiang) \|\| Institute of Robotics and Mechatronics, German Aerospace Center, Munich 82230, Germany (Hong Liu)
Abstract	A five-fingered, multi-sensory biomechatronic hand with sEMG interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage mechanism, each finger with three phalanges could fulfill flexion-extension movement independently. Besides, each finger is equipped with torque and position sensors. Thus, the cosmetics and dexterity are improved remarkably compared to conventional prosthesis. The hardware architecture is divided into control system and EMG signal processing system. Moreover, a novel two-stage decision strategy combing the position-based impedance control scheme is implemented to realize the real-time sEMG control of the hand. According to the grasp experiment results, the hand can accomplish several grasp modes stably; the success rate of 10 modes is up to 90%.
Starting Page	5880
Ending Page	5885
File Size	1756600
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5651172
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Thumb Electromyography Humans Joints Prosthetic hand Sensors
Content Type	Text
Resource Type	Article

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