Authors: Nayan M. Kakoty; Shyamanta M. Hazarika
Addresses: School of Engineering, Tezpur University, Tezpur, India ' School of Engineering, Tezpur University, Tezpur, India
Abstract: This paper presents the development of an electromyogram controlled extreme upper limb prosthetic hand prototype following a biomimetic approach. The biomimetic approach is followed to harmonise both physical and functional aspects of the human hand. The prototype with tendon driven fingers possesses 15 degrees of freedom. It can perform grasping operations involved during 70% of daily living activities. The control is in two stages: superior hand control (SHC) and local hand control (LHC). The SHC involves a grasp recognition module responsible for recognition of the grasp type indented by the user. The LHC involves a translation module responsible for emulating the identified grasp type into the prototype. The results obtained for finger joint trajectories during a precision grasp through the two stage control architecture in conformity to the human hand finger.
Keywords: biomimetics; electromyograms; EMG; grasp types; prosthetic hands; tendon driven fingers; prosthetics; grasping operations; hand control; finger joint trajectories; biomedical engineering.
International Journal of Computational Vision and Robotics, 2014 Vol.4 No.1/2, pp.115 - 133
Received: 26 Mar 2013
Accepted: 28 Jul 2013
Published online: 18 Feb 2014 *