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

我们研究了长期使用手的肌电义手抓笼的实验研究：(1)位置控制义手抓笼的实验研究，以及环形笼的视觉目标识别；(2)肌电运动估计。在(1)中，我们提出了笼握作为机器人对物体的几何约束，并实验探讨了手在笼握几种简单形状物体时的姿势和手指位置。在此基础上，提出了环形笼的特征检测和姿态估计方法。在(2)中，我们可以通过2个电极识别前臂和手指的4种运动。

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.