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EMG prosthetic hand controller discriminating ten motions using real-time learning method

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4 Author(s)
Nishikawa, D. ; Lab. of Autonomous Syst. Eng., Hokkaido Univ., Sapporo, Japan ; Wenwei Yu ; Yokoi, H. ; Kakazu, Y.

We discuss the necessity of a learning mechanism for an EMG prosthetic hand controller, and the real-time learning method is proposed and designed. This method divides the controller into three units. The analysis unit extracts useful informations for discriminating motions from the EMG. The adaptation unit learns the relation between EMG and control command and adapts operator's characteristics. The trainer unit makes the adaptation unit learn in real-time. Experiments show that the proposed controller discriminates ten forearm motions, which contain four wrist motions and six hand motions, and learns within 4~25 minutes. The average of the discriminating rate is 91.5%

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

1999