Abstract
In order to mimic the natural appearance, motion, and perception of the human hand, a bio-mechatronic approach to design an anthropomorphic prosthetic hand — HIT/DLR Prosthetic Hand has been presented. It reproduces human hand in its fundamental structure such as appearance, weight, and dimensions. Its thumb can move along a cone surface in 3D space. Similar with that of human's, it combines with abduction and adduction from palmar position to lateral position. Actuated by only one motor, the middle finger, ring finger, and little finger can envelop complex-shaped objects. In addition, the bio-mechatronic integration and cosmetic designation make it much more like a genuine human hand. HIT/DLR Prosthetic Hand can be controlled through voice control strategy, Electromyography (EMG) control strategy, EMG, and electrocutaneous sensory feedback (ESF) close loop control strategy. In EMG control system, 10 types of hand posture are recognized through six electrodes on the basis of support vector machine (SVM). The last control strategy can help an amputee recover the grasp perception, further improve the efficiency of EMG control, and reduce the hand mis-manipulation and force delivery mistakes.
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