Abstract
In this paper, we develop a prosthetic bionic hand system to realize adaptive gripping with two closed-loop control loops by using a linear discriminant analysis algorithm (LDA). The prosthetic hand contains five fingers and each finger is driven by a linear servo motor. When grasping objects, four fingers except the thumb would adjust automatically and bend with an appropriate gesture, while the thumb is stretched and bent by the linear servo motor. Since the change of the surface electromechanical signal (sEMG) occurs before human movement, the recognition of sEMG signal with LDA algorithm can help to obtain people’s action intention in advance, and then timely send control instructions to assist people to grasp. For activity intention recognition, we extract three features, Variance (VAR), Root Mean Square (RMS) and Minimum (MIN) for recognition. As the results show, it can achieve an average accuracy of 96.59%. This helps our system perform well for disabilities to grasp objects of different sizes and shapes adaptively. Finally, a test of the people with disabilities grasping 15 objects of different sizes and shapes was carried out and achieved good experimental results.
Highlights
As an important part for individuals with upper-limb differences, a prosthetic bionic hand is indispensable to keep the structural integrity of the human body
In this paper,Big we developed a humanoid hand BIT hand C, wh is controlled by two electrodes placed on the skin surface
In grasping objects of different sizes and sha which has the potential to be applied for individuals with upper-limb differences
Summary
As an important part for individuals with upper-limb differences, a prosthetic bionic hand is indispensable to keep the structural integrity of the human body. Dr Paul Chappell from the University of Southampton in the UK developed the Southampton Hand [1] series based on the observation of human hands and fingers when grasping. In this scheme, each finger has three joints except the thumb, and the motion of two joints at the end are correlatively coupled. The research on intelligent prosthetic hands is relatively too complicated, resulting in various inconveniences for the individuals with upper-limb difference in practical application.
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