Title :
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
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;
Conference_Titel :
Health Care Exchanges (PAHCE), 2015 Pan American
Conference_Location :
Vina del Mar
Print_ISBN :
978-1-4673-6967-1
DOI :
10.1109/PAHCE.2015.7173344
