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EMG sliding mode finger joint synergy control of a dexterous artificial hand

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3 Author(s)
Kent, B.A. ; Mech. Eng. Dept., Univ. of Akron, Akron, OH, USA ; Karnati, N. ; Engeberg, E.D.

From observation of human data, a set of sinusoidal trajectories were developed to mimic the human motion of unscrewing a bottle cap with the thumb and index finger. These trajectories were then implemented on a dexterous robotic hand in the form of a robustly stable sliding mode control algorithm. With the developed synergies, a single myoelectric input was used to control multiple finger joints simultaneously. This controller was then compared to a one degree of freedom prosthetic hand also under sliding mode control. The two hands were used to complete an unscrewing task as quickly as possible. The synergy controller produced a statistically significant reduction in task completion time and also reduced the required workspace.

Published in:

Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on

Date of Conference:

24-27 June 2012