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A prosthetic hand with a self-regulated grip force could achieve different operation modes, which can help the upper limb amputees to fetch objects of different shapes. To get the appropriate grasping force with smaller samples and shorter training time, the method of threshold value judgment in this paper is effective on achieving the estimate of the discrete force basing on the mean absolute value (MAV) of EMG’s level. The 10 subjects can be divided into 8 grasping patterns determined through three levels: the small, medium and great of grasping forces in experiments. Experimental results conditioned on small training samples and short training time show that the accuracy of force estimation is 72.91±9.58% and thereby convincing the effectiveness and reality of the proposed method.

Grasping force estimation for prosthetic hands via feature extraction of surface EMG