Title :
Myoelectric teleoperation of a complex robotic hand
Author :
Farry, Kristin A. ; Walker, Ian D.
Author_Institution :
Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA
Abstract :
An unusual method of teleoperation of complex anthromorphic robotic hands, i.e., converting the myoelectric signal generated by the operator´s muscles during movement into robot commands replicating the motion is discussed. The feasibility of using this approach for commanding more than one degree-of-freedom (DOF), as exemplified by the pincher type grip in current myoelectric hands, is still in question. The feasibility study described addresses myoelectric control of NASA/Johnson Space Center´s 16-DOF Utah/MIT Dextrous Hand for several grasping options. Myoelectric signal processing approaches, data collection apparatus, and preliminary data for key and chuck grasps are discussed
Keywords :
artificial limbs; bioelectric potentials; manipulators; telecontrol; anthromorphic robotic hands; complex robotic hand; data collection apparatus; dextrous manipulation; grasping options; key and chuck grasps; myoelectric control; myoelectric signal processing; myoelectric teleoperation; Anthropomorphism; Grasping; Legged locomotion; NASA; Orbital robotics; Prosthetic hand; Robots; Signal processing; Teleoperators; User interfaces;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292222
