Abstract
This paper describes an electrically powered prosthetic system controlled by electromyography (EMG) signal detected from the skin surface of the human body. The research of electrically powered prosthetic systems is divided into two main subjects. One is the design of the joint mechanism. We propose the use of an adaptive joint mechanism based on the tendon-driven architecture. This mechanism includes mechanical torque–velocity converters and a mechanism to assist the proximal joint torque by distal actuators. The other subject is the recognition of the EMG signal. For the discrimination of many patterns and nonlinear properties of the EMG signal, we propose a controller based on a simple pattern recognition information process. The system also drives 12 servomotors to move the adaptive joint mechanism. In this paper, we show the proposed system and describe the mechanical design of the prosthetic hand. The experimental results show that the electrically powered devices can be controlled using the proposed method.
Highlights
The development of robotics provides useful technology for the medical welfare field
This paper proposes a prosthetic hand with a 12-degrees of freedom (DOF) adaptive joint mechanism based
The prosthetic system based on EMG signal has a big potential to reflect the human intention for the control of a large DOF mechanical device
Summary
The development of robotics provides useful technology for the medical welfare field. Some products are already applied for practical use in the medical area (SensorHand Technical Information Booklet 2001). It is significant for the medical area and for robotics and mechanical engineering because it could be a landmark to achieve a humanoid hand. The prosthetic devices are limited in adequate size, weight, appearance, speed, power, and control precision. To fulfill these requirements, the tendon-driven mechanism has been investigated (Hirose and Ma 1991; Ishikawa et al 2000). This paper proposes a prosthetic hand with a 12-DOF adaptive joint mechanism based
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