Electromyographic Prosthetic Hand Using Grasping-Force-Magnification Mechanism With Five Independently Driven Finger
Electromyographic Prosthetic Hand Using Grasping-Force-Magnification Mechanism With Five Independently Driven Finger
复制标题
五根独立驱动手指握力放大机构肌电假手
DOI：
10.1080/01691864.2015.1079502
复制
发表时间：
2015
影响因子：
2
通讯作者：
A. Otsuka and T. Chin
中科院分区：
文献类型：
--
作者：
T. Takaki;K. Shima;N. Mukaidani;T. Tsuji;A. Otsuka and T. Chin
本文提出了一种肌电图（EMG）假手，有五个独立驱动的手指，屈曲驱动，和力放大驱动。屈曲驱动器允许手指快速运动，力放大驱动器允许牢固抓握。为了实现与非截肢部分的运动相似的自然控制感觉，控制系统包括人前臂的阻抗模型，并利用从用户的EMG信号提取的肌肉收缩水平。我们通过实验验证了手的最大指尖力超过20 N，并且通过屈曲驱动完全闭合手所需的时间为0.53 s。我们也通过实验验证了手指对肌电信号的反应，可以平滑地弯曲，并且可以调节抓握力。此外，我们表明，以EMG信号作为输入，可以控制六个操作，包括那些使用五个手指在不同的方式。
This paper proposes an electromyographic (EMG) prosthetic hand that has five independently driven fingers, a flexion drive, and a force-magnification drive. The flexion drive allows for rapid finger motion, and the force-magnification drive allows for a firm grasp. To realize the natural feeling of control similar to that of movements with nonamputated parts, the control system includes the impedance model of human forearms and utilizes the muscle contraction level extracted from a user’s EMG signals. We experimentally verified that the maximum fingertip force of the hand exceeds 20 N, and the time required to fully close the hand by the flexion drive is 0.53 s. We also experimentally verified that in response to EMG signals, the fingers can flex smoothly and the grasping force can be modulated. Furthermore, we show that taking EMG signals as inputs makes it possible to control six operations, including ones that use the five fingers in distinctive ways.