Development of A Five-finger Prosthetic Hand Using Ultrasonic Motors Controlled by Two EMG Signals | Zendy

Makoto Ohga | Zendy; Mikio Takeda | Zendy; Akira Matsuba | Zendy; A Koike | Zendy; Toshio Tsuji | Zendy

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Development of A Five-finger Prosthetic Hand Using Ultrasonic Motors Controlled by Two EMG Signals

Author(s) -

Makoto Ohga,

Mikio Takeda,

Akira Matsuba,

A Koike,

Toshio Tsuji

Publication year - 2002

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2002.p0565

Subject(s) - grasp , ultrasonic motor , prosthetic hand , computer science , finger joint , joint (building) , ultrasonic sensor , robotic hand , artificial intelligence , mechanism (biology) , computer vision , acoustics , engineering , piezoelectricity , electrical engineering , materials science , structural engineering , philosophy , epistemology , composite material , programming language , physics

This paper describes an EMG controlled prosthetic hand with five fingers actuated by ultrasonic motors. The grasping mechanism proposed is capable of determining the joint angle of each finger in a way that the five fingers can follow the shape of objects and realize a flexible grasp. Estimation of the motion intended by an amputee is realized by using a neural network involving statistical structures from surface myoelectric signals. The present paper shows that discrimination of four or six kinds of limb-functions is realized with a small number of two electrodes by utilizing the frequency characteristics of EMG signals.

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