A Two Layered Control Architecture for Prosthetic Grasping

AbstractThis paper presents a two layered control architecture - Superior hand control (SHC) followed by Local hand control (LHC) for an extreme upper limb prosthesis. The control architecture is for executing grasping operations involved in 70% of daily living activities. Forearm electromyogram actuated SHC is for recognition of user’s intended grasp. LHC control the fingers to be actuated for the recognized grasp. The finger actuation is controlled through a proportionalintegral- derivative controller customized with fingertip force sensor. LHC controls joint angles and velocities of the fingers in the prosthetic hand. Fingers in the prosthetic hand emulate the dynamic constraints of human hand fingers. The joint angle trajectories and velocity profiles of the prosthetic hand finger are in close approximation to those of the human finger

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Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic applications

Robotica ◽

10.1017/s0263574714002902 ◽

2015 ◽

Vol 34 (10) ◽

pp. 2291-2308 ◽

Cited By ~ 7

Author(s):

Ting Zhang ◽

Xin Qing Wang ◽

Li Jiang ◽

Xinyu Wu ◽

Wei Feng ◽

...

Keyword(s):

Low Cost ◽

Feedback System ◽

Human Hand ◽

Prosthetic Hand ◽

Natural Motion ◽

Flexion Extension ◽

Artificial Hand ◽

Human Finger ◽

Electrical Stimulator ◽

And Control

SUMMARYIn this paper, we propose a biomechatronic design of an anthropomorphic artificial hand that is able to mimic the natural motion of human fingers. The prosthetic hand has 5 fingers and 15 joints, which are actuated by 5 embedded motors. Each finger has three phalanges that can fulfill flexion-extension movements independently. The thumb is specially designed to move along a cone surface when grasping, and the other four fingers are well developed based on the four-bar link mechanism to imitate the motion of the human finger. To accomplish the sophisticated control schemes, the fingers are equipped with numerous torque and position sensors. The mechanical parts, sensors, and motion control systems are integrated in the hand structure, and the motion of the hand can be controlled through electromyography (EMG) signals in real-time. A new concept for the sensory feedback system based on an electrical stimulator is also taken into account. The low-cost prosthetic hand is small in size (85% of the human hand), of low weight (420 g) and has a large grasp power (10 N on the fingertips), hence it has a dexterous and humanlike appearance. The performance of the prosthetic hand is validated in a clinical evaluation on transradial amputees.

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Linear Controller Synthesis for Master System using Extended Physiological Proprioception in Upper-Limb Prosthesis

2019 8th International Conference on Systems and Control (ICSC) ◽

10.1109/icsc47195.2019.8950611 ◽

2019 ◽

Author(s):

Karthikeyan Iyer ◽

N.S. Manjarekar

Keyword(s):

Upper Limb ◽

Controller Synthesis ◽

Linear Controller ◽

Upper Limb Prosthesis ◽

Master System ◽

Limb Prosthesis

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Comparison of EMG signal classification algorithms for the control of an upper limb prosthesis prototype

2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) ◽

10.1109/cce50788.2020.9299208 ◽

2020 ◽

Author(s):

Daniel Lorias Espinoza ◽

Leobardo Eli Sanchez Velasco

Keyword(s):

Upper Limb ◽

Signal Classification ◽

Classification Algorithms ◽

Emg Signal ◽

Upper Limb Prosthesis ◽

Limb Prosthesis

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Human Hand Anatomy-Based Prosthetic Hand

Sensors ◽

10.3390/s21010137 ◽

2020 ◽

Vol 21 (1) ◽

pp. 137

Author(s):

Larisa Dunai ◽

Martin Novak ◽

Carmen García Espert

Keyword(s):

3D Printing ◽

Degrees Of Freedom ◽

Use Of Force ◽

Hand Movements ◽

Human Hand ◽

Prosthetic Hand ◽

Object Surface ◽

Hand Phalanges ◽

High Level

The present paper describes the development of a prosthetic hand based on human hand anatomy. The hand phalanges are printed with 3D printing with Polylactic Acid material. One of the main contributions is the investigation on the prosthetic hand joins; the proposed design enables one to create personalized joins that provide the prosthetic hand a high level of movement by increasing the degrees of freedom of the fingers. Moreover, the driven wire tendons show a progressive grasping movement, being the friction of the tendons with the phalanges very low. Another important point is the use of force sensitive resistors (FSR) for simulating the hand touch pressure. These are used for the grasping stop simulating touch pressure of the fingers. Surface Electromyogram (EMG) sensors allow the user to control the prosthetic hand-grasping start. Their use may provide the prosthetic hand the possibility of the classification of the hand movements. The practical results included in the paper prove the importance of the soft joins for the object manipulation and to get adapted to the object surface. Finally, the force sensitive sensors allow the prosthesis to actuate more naturally by adding conditions and classifications to the Electromyogram sensor.

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