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Biomimetic myoelectric control of a dexterous prosthetic hand

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2 Author(s)
Kent, B.A. ; Univ. of Akron, Akron, OH, USA ; Engeberg, E.D.

A new biomimetic two-input EMG based control algorithm for a dexterous robotic hand is presented. The biomimetic controller maps the EMG control signals to the prosthesis in a more physiologically expected manner. By exploiting the muscular structure of the forearm, the controller permits control of both power and lateral pinch grasps in addition to a typing function with the index finger. Proportional control of wrist flexion and extension is also possible while simultaneously controlling the applied grip force. Experimental results show that there exists a correlation between hand position and EMG signals, which is used as a basis for the biomimetic control algorithm. The control algorithm was evaluated by four human test subjects who performed five different tasks. Results indicate a general trend of improvement using the controller with increased training time.

Published in:

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Date of Conference:

7-11 Dec. 2011