Wyniki wyszukiwania - BazTech

Ograniczanie wyników

2 Biocybernetics and Biomedical Engineering

Znaleziono wyników: 2

Liczba wyników na stronie

Wyniki wyszukiwania

Sortuj według:

Ogranicz wyniki do:

EMG-controlled hand exoskeleton for assisted bilateral rehabilitation

De la Cruz-Sánchez Berith Atemoztli, Arias-Montiel Manuel, Lugo-González Esther

Biocybernetics and Biomedical Engineering

2022

Vol. 42, no. 2

596--614

This article presents an electromyography (EMG) controlled hand exoskeleton for basic movements in assisted bilateral therapy, where bimanual work is required by the user. The target users are individuals with the right hand affected by an accident or cerebrovascular problems which require passive or assisted rehabilitation. Through a Matlab GUI, the system receives, processes and classifies electromyographic signals from the user acquired by a MYO armband obtaining an accuracy of 81.2% using k-Nearest Neighbors (kNN) as the classification algorithm and Random Subset Feature Selection (RSFS) as the feature selection algorithm. Subsequently, the exoskeleton reproduces the movement detected in the user’s opposite hand. The exoskeleton prototype is 8 degrees of freedom (DOF), built using 3D printing and has independent movement of the fingers. The movement controller is based on fuzzy logic. For the system performance analysis, kinematic information from a motion capture system is used to compare the trajectories in different grasping tasks of a user’s hand with and without the exoskeleton with a maximum error of 10.63% and a minimum of 3.46% with the desired final position, which physically represents a difference of 1.89° and 0.07° respectively.

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

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

Biocybernetics and Biomedical Engineering

2020

Vol. 40, no. 1

221--237

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.