Human and Robot Models for Intelligent Prosthetic Hands

该提案旨在开发一种新的方法， 最终设计出一个假手。 PI将首先 开发一个正式的抓取行为模型， 人体实验 然后，他们将制定一个 控制输入的最小集合， 控制抓握动作。 最后，神经网络 和知识为基础的方法将进行调查， 实现智能控制的可能方法 一个已经开发的人工手的机械装置。 的 建议的工作应该导致更好的控制方法， 人造手;它也可能对 机械手的设计。

This proposal is to develop a novel approach to the eventual design of a hand prosthesis. The PIs will first develop a formal model of grasping behavior based upon experiments on humans. They will then formulate a minimal set of control inputs that is necessary to control grasping movements. Finally, both neural network and knowledge-based approaches will be investigated as possible methods of implementing intelligent control mechanisms for an already developed hand prosthesis. The proposed work should lead to better ways of controlling artificial hands; it also may have an impact on the design of robotic manipulators.