Force control and haptic interface applied to prototype of myoelectric prosthetic hand

Author

Mancipe-Toloza, E.R. ; Salinas, S.A.

Author_Institution

Fac. de Ing. Electron., Univ. Pontificia Bolivariana, Bucaramanga, Colombia

fYear

2015

fDate

23-28 March 2015

Firstpage

1

Lastpage

5

Abstract

Development of a force control hardware embedded system for a Prototype of Prosthetic Gripper Hand with 1 grade of liberty is shown. A myoelectric signal is used to enable a servo motor movement which permits opening and closing the prosthesis. The prosthesis force is controlled with a Proportional and Integrative (PI) incremental control. Furthermore, a little vibrator motor acts like a haptic interface and it is put on the user arm; the prosthesis force applied against an object is related with the vibrator motor frequency.

Keywords

biomedical equipment; electromyography; force control; haptic interfaces; medical control systems; prosthetics; force control hardware embedded system; haptic interface; integrative incremental control; myoelectric prosthetic hand prototype; myoelectric signal; prosthesis force; prosthetic gripper hand prototype; servo motor movement; user arm; vibrator motor frequency; Catalogs; Conferences; Couplings; Field programmable gate arrays; Prosthetics; Servomotors;

fLanguage

English

Publisher

ieee

Conference_Titel

Health Care Exchanges (PAHCE), 2015 Pan American

Conference_Location

Vina del Mar

ISSN

2327-8161

Print_ISBN

978-1-4673-6967-1

Type

conf

DOI

10.1109/PAHCE.2015.7173344

Filename

7173344