A Low-Cost EMG-Controlled Anthropomorphic Robotic Hand for Power and Precision Grasp

• Autorzy: Sánchez-Velasco Leobardo E. , Arias-Montiel Manuel , Guzmán-Ramírez Enrique , Lugo-González Esther

Identyfikatory

DOI

10.1016/j.bbe.2019.10.002

• Języki publikacji: EN

Abstrakty

EN

In this paper the use of a commercial EMG armband for the motion control of a prototype hand prosthesis is proposed. The mechanical design is based on an open source six degree-of-freedom hand. Some modifications from the original design are proposed, mainly in the actuation and power transmission devices to reduce the prototype's costs and to provide a major mobility to the thumb to adapt the motion to the shape of the grasped object. Unlike some similar prototypes previously reported and considering that the proposed application requires portability, the use of a PC for the acquisition and processing of the EMG data has been replaced by a portable hardware system based on the master/slave architecture. The master device is a Raspberry Pi-based subsystem interfaced with the EMG armlet for gathering and classifying information from the user's muscular activity. The slave device is an ATmega328 microcontroller-based subsystem that defines the movements of the robotic hand from the information collected and processed by the master device. Experimental results are presented to evaluate the performance of the EMG-controlled hand prosthesis carrying out different types of grasping tasks.

Słowa kluczowe

EN

myoelectric control; robotic hand; grasping; low cost prototype

PL

kontrola mioelektryczna; ręka robotyczna; chwytanie

• Wydawca: Nałęcz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences ; Elsevier
• Czasopismo: Biocybernetics and Biomedical Engineering
• Rocznik: 2020
• Tom: Vol. 40, no. 1
• Strony: 221--237
• Opis fizyczny: Bibliogr. 28 poz., rys., tab., wykr.

Twórcy

autor

Sánchez-Velasco Leobardo E.

• Universidad Tecnológica de la Mixteca, Institute of Electronics and Mechatronics

autor

Arias-Montiel Manuel

• Universidad Tecnológica de la Mixteca, Institute of Electronics and Mechatronics

autor

Guzmán-Ramírez Enrique

• Universidad Tecnológica de la Mixteca, Institute of Electronics and Mechatronics

autor

Lugo-González Esther

• Universidad Tecnológica de la Mixteca, Institute of Electronics and Mechatronics

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).