首页|期刊导航|哈尔滨工业大学学报（英文版）|A five-fingered underactuated prosthetic hand: hardware and its control scheme
哈尔滨工业大学学报（英文版）2008，Vol.15Issue(2)：228-234,7.
A five-fingered underactuated prosthetic hand: hardware and its control scheme
A five-fingered underactuated prosthetic hand: hardware and its control scheme
摘要
Abstract
A five-fingered underactuated prosthetic hand controlled by surface EMG (electromyographic) sig-nals is presented in this paper. The prosthetic hand was designed with simplicity, lightweight and dexterity on the requirement of anthropomorphic hands. Underactuated self-adaptive theory was adopted to decrease the number of motors and weight. The control part of the prosthetic hand was based on a surface EMG motion pat-tern classifier which combines LM-based (Levenberg-Marquardt) neural network with the parametric AR ( au-toregressive) model. This motion pattern classifier can successfully identify the flexions of the thumb, the index finger and the middle finger by measuring the surface EMG signals through two electrodes mounted on the flexor digitorum profundus and flexor pollicis longus. Furthermore, via continuously controlling a single finger' s mo-tion, the five-fingered underactuated prosthetic hand can achieve more prehensile postures such as power grasp,centralized grip, fingertip grasp, cylindrical grasp, etc. The experimental results show that the classifier has a great potential application to the control of bionic man-machine systems because of its fast learning speed, high recognition capability and strong robustness.关键词
EMG/ prosthetic hand/ underactuated / neural network/ Levenberg-MarquardtKey words
EMG/ prosthetic hand/ underactuated / neural network/ Levenberg-Marquardt分类
医药卫生引用本文复制引用
ZHAO Jing-dong,JIANG Li,CAI He-gao,LIU hong..A five-fingered underactuated prosthetic hand: hardware and its control scheme[J].哈尔滨工业大学学报（英文版）,2008,15(2):228-234,7.基金项目
Sponsored by the National Natural Science Foundation of China ( Grant No. 50435040) and Development Program for Outstanding Young Teachers in Har-bin Institute of Technology( Grant No. HITQNJS. 2007.011 ). （ Grant No. 50435040）
