Biomimetic hand prosthesis with easily programmable microprocessor and high torque motor

The purpose of this study was to develop the biomimetic hand prosthesis with an easily programmable microprocessor and a high torque DC. Firstly, we developed the digital servo system with the microprocessor and peripheral circuits. Secondly, the control program that calculated the finger angle from external force and the estimated contraction torque of flexor and extensor muscles and control the rotation angle of DC motor was developed with C language. Finally, we conducted the myoelectric control experiments with a normal subject. It was shown that he could control the finger angle and compliance of the finger movements and grasp a soft object easily.