Name
Title | ||
|---|---|---|
Electromyographic prosthetic hand using grasping-force-magnification mechanism with five independently driven fingers |
Abstract | ||
|---|---|---|
This paper proposes an electromyographic (EMG) prosthetic hand that has five independently driven fingers, a flexion drive, and a force-magnification drive. The flexion drive allows for rapid finger motion, and the force-magnification drive allows for a firm grasp. To realize the natural feeling of control similar to that of movements with nonamputated parts, the control system includes the impedance model of human forearms and utilizes the muscle contraction level extracted from a user's EMG signals. We experimentally verified that the maximum fingertip force of the hand exceeds 20 N, and the time required to fully close the hand by the flexion drive is 0.53 s. We also experimentally verified that in response to EMG signals, the fingers can flex smoothly and the grasping force can be modulated. Furthermore, we show that taking EMG signals as inputs makes it possible to control six operations, including ones that use the five fingers in distinctive ways. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1080/01691864.2015.1079502 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
prosthetic hand,mechanism,electromyographic,control method | Muscle contraction,GRASP,Simulation,Engineering,Magnification,Control system | Journal |
Volume | Issue | ISSN |
29 | 24 | 0169-1864 |
Citations | PageRank | References |
0 | 0.34 | 13 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Takeshi Takaki | 1 | 222 | 38.04 |
| Keisuke Shima | 2 | 29 | 9.60 |
| N. Mukaidani | 3 | 0 | 0.34 |
| Toshio Tsuji | 4 | 941 | 164.96 |
| Akira Otsuka | 5 | 258 | 36.20 |
| takaaki chin | 6 | 5 | 2.90 |