Title :
On the development of a novel adaptive prosthetic hand with compliant joints: experimental platform and EMG control
Author :
Carozza, M.C. ; Cappiello, Giovanni ; Stellin, Giovanni ; Zaccone, Franco ; Vecchi, Fabrizio ; Micera, Silvestro ; Dario, Paolo
Author_Institution :
ARTS Lab, Scuola Superiore Sant´´ Anna, Pontedera, Italy
Abstract :
In this paper, some recent results about the experimental trials we are performing on a functional prosthetic hand characterized by an EMG-control and by a simple and low cost fabrication technology are shown. The innovation described in this paper is the fabrication of a compliant under-actuated prosthetic hand. The structure of the hand (both palm and fingers) is moulded as a soft polymeric single part with compliant joints and embedded tendon driven under-actuated mechanism for providing adaptive grasp. The prosthetic hand has been designed following a biomechatronic approach based on biologically-inspired design solutions. We describe the second release of this prosthesis. The evaluating tests are related to the maximum force exerted during grasping and to the fatigue problems occurring with cables and joint.
Keywords :
actuators; adaptive control; compliance control; electromyography; mechatronics; prosthetics; EMG control; adaptive prosthetic hand; biomechatronics; compliant joints; compliant under-actuated prosthetic hand; fabrication technology; functional prosthetic hand; Adaptive control; Cost function; Electromyography; Fabrication; Fingers; Polymers; Programmable control; Prosthetic hand; Technological innovation; Tendons; Biomechatronics; Compliant joints; Prosthetics; Rehabilitation; Under-actuation;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545585