Development of myoelectric prosthetic hands applying caging grasps for long-term use

本文研究了肌电假手的笼状抓取：（1）位置控制假手笼状抓取的实验研究，以及环型笼状抓取的视觉物体识别;（2）肌电运动估计。在（1）中，我们提出了机器人抓取物体的几何约束--笼式抓取，并对抓取几个简单形状物体时手的姿态和手指位置进行了实验研究。此外，我们还开发了环形笼的对象的特征检测和姿态估计。在（2）中，我们可以通过2个电极识别前臂和手指的4个运动。

We studied caging grasps by a myoelectric prosthetic hand for long-term use of the hand: (1) experimental study of caging grasps for position-controlled prosthetic hands, and visual object recognition for ring-type caging, (2) motion estimation with electromyography. In (1), we proposed caging grasps, as geometrical constraint of objects by robots, and experimentally approached the posture and fingers location of the hand for caging several simple-shaped objects. Also we developed feature detection and posture estimation of objects for ring-type caging. In (2), we can recognize 4 motions of the forearm and the fingers by 2 electrodes.