An anthropomorphic controlled hand prosthesis system

Hai HUANG; Hong LIU; Nan LI; Li JIANG; Da-peng YANG; Lei WAN; Yong-jie PANG; Gerd HIRZINGER

doi:10.1631/jzus.C1100257

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An anthropomorphic controlled hand prosthesis system

Computer & Automation | Updated：2022-12-09

- An anthropomorphic controlled hand prosthesis system
- An anthropomorphic controlled hand prosthesis system
- Frontiers of Information Technology & Electronic Engineering Vol. 13, Issue 10, Pages: 769-780(2012)
- Affiliations：
  
  1.National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
  2.State Key Laboratory of Robot and Systems, Harbin Institute of Technology, Harbin 150001, China
  3.Institute of Robotics and Mechatronics, German Aerospace Center, DLR, Wessling 82230, Germany
- Author bio：
  
  [ "Hai HUANG, E-mail: haihus@163.com" ]
- Funds：
- DOI：10.1631/jzus.C1100257
  CLC： TP241
- Received：01 September 2011，
  
  Revised：2012-;9-11，
  
  Published：2012-10
- Accepted：
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Hai HUANG, Hong LIU, Nan LI, et al. An anthropomorphic controlled hand prosthesis system[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(10): 769-780.
DOI：

Hai HUANG, Hong LIU, Nan LI, et al. An anthropomorphic controlled hand prosthesis system[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(10): 769-780. DOI： 10.1631/jzus.C1100257.

摘要

Abstract

Based on HIT/DLR (Harbin Institute of Technology/Deutsches Zentrum für Luft- und Raumfahrt) Prosthetic Hand Ⅱ

an anthropomorphic controller is developed to help the amputees use and perceive the prosthetic hands more like people with normal physiological hands. The core of the anthropomorphic controller is a hierarchical control system. It is composed of a top controller and a low level controller. The top controller has been designed both to interpret the amputee's intensions through electromyography (EMG) signals recognition and to provide the subject–prosthesis interface control with electro-cutaneous sensory feedback (ESF)

while the low level controller is responsible for grasp stability. The control strategies include the EMG control strategy

EMG and ESF closed loop control strategy

and voice control strategy. Through EMG signal recognition

10 types of hand postures are recognized based on support vector machine (SVM). An anthropomorphic closed loop system is constructed to include the customer

sensory feedback system

EMG control system

and the prosthetic hand

so as to help the amputee perform a more successful EMG grasp. Experimental results suggest that the anthropomorphic controller can be used for multi-posture recognition

and that grasp with ESF is a cognitive dual process with visual and sensory feedback. This process while outperforming the visual feedback process provides the concept of grasp force magnitude during manipulation of objects.

关键词

Keywords

references

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