The Preliminary Design and Motion Control of a Five-fingered Prosthetic Hand

Author

Zajdlik, Jakub

Author_Institution

Dept. of Power Electr. & Electron. Eng., Brno Univ. of Technol.

fYear

0

fDate

0-0 0

Firstpage

202

Lastpage

206

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Engineering Systems, 2006. INES '06. Proceedings. International Conference on

Conference_Location

London

Print_ISBN

0-7803-9708-8

Type

conf

DOI

10.1109/INES.2006.1689369

Filename

1689369