Title :
Design and control of electromyogram prosthetic hand with high grasping force
Author :
Hioki, Masaaki ; Ebisawa, Shoya ; Sakaeda, Hirofumi ; Mouri, Tetsuya ; Nakagawa, Shinobu ; Uchida, Yoshinori ; Kawasaki, Haruhisa
Author_Institution :
Fac. of Eng., Gifu Univ., Gifu, Japan
Abstract :
This paper presents the design concept of a novel electromyogram prosthetic hand, which adopts a grasping strategy consisting of thumb opposition with high grasping force and finger extension with non-backdrivability. This grasping strategy contributes to mass saving and high grasping force. Each finger has 1 degree of freedom (DOF) for flexion/extension, and the thumb has 2 DOF for opposition and flexion/extension. The design includes a passive extension mechanism to keep contact with the grasped object and a passive flexion mechanism to avoid collision between the fingers and the environment. The prosthetic hand also has 2 DOF for wrist motion. All motors and control circuitry are installed in the hand frame. The outside aspect and the size are similar to those of a woman´s hand. The hand´s mass including artificial skin is 336 g, and the grasping force is 20 N and above. These specifications have been set based on a survey of electric prosthetic hands administered to users and medical experts. The experimental results of hand control measured by a surface electromyogram from an able-bodied subject are also presented.
Keywords :
collision avoidance; design engineering; electromyography; force; medical robotics; motion control; prosthetics; collision avoidance; electric prosthetic hands; electromyogram prosthetic hand control; electromyogram prosthetic hand design; finger extension; grasping strategy; high grasping force; mass saving; nonbackdrivability; passive extension mechanism; passive flexion mechanism; surface electromyogram; thumb opposition; Force; Grasping; Joints; Prosthetic hand; Thumb; Wrist;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181439