Title :
The Preliminary Design and Motion Control of a Five-fingered Prosthetic Hand
Author_Institution :
Dept. of Power Electr. & Electron. Eng., Brno Univ. of Technol.
Abstract :
This paper introduces the first prototype of a five-fingered prosthetic hand and the first attempt to control this mechanism. The mechanism has twenty degrees of freedom and is actuated by only three motors. In the control unit continuous wavelet transform are used for extraction of inputs (from EMG) for a feed forward back propagation neural network used to recognise the type of grasp. This should make it easier for the patient to learn how to control the hand. Both the prosthesis and control unit are prototypes for testing and verification of the device
Keywords :
artificial limbs; backpropagation; control engineering computing; electromyography; feedforward neural nets; medical control systems; medical signal processing; motion control; wavelet transforms; EMG; continuous wavelet transform; feed forward back propagation neural network; five-fingered prosthetic hand design; grasp recognition; motion control; Continuous wavelet transforms; Electromyography; Feedforward neural networks; Feeds; Motion control; Neural networks; Neural prosthesis; Prosthetic hand; Prototypes; Wavelet transforms;
Conference_Titel :
Intelligent Engineering Systems, 2006. INES '06. Proceedings. International Conference on
Conference_Location :
London
Print_ISBN :
0-7803-9708-8
DOI :
10.1109/INES.2006.1689369
