Title :
On the development of EMG control for a prosthesis using a robotic hand
Author :
Iberall, Thea ; Sukhatme, Gaurav S. ; Beattie, Denise ; Bekey, George A.
Author_Institution :
Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
The human hand is a complex end-effector capable of a large variety of postures. Multifingered robot hands, such as the Belgrade/USC hand, can approximate human hand functionality, and it is possible to consider their use in prosthetics. The authors have developed a system, PRESHAPE, that translates user commands into motor signals using the virtual finger concept. For control, electromyographic (EMG) signals from forearm muscles are used. The authors describe PRESHAPE and its use of EMG signals. Simulation results are presented
Keywords :
artificial limbs; bioelectric potentials; manipulators; muscle; Belgrade/USC hand; EMG control; PRESHAPE; electromyographic signals; forearm muscles; motor signals; multifingered robot hands; prosthetics; robotic hand; user commands; virtual finger concept; Control systems; Electromyography; Fingers; Force control; Humans; Muscles; Proportional control; Prosthetic hand; Robots; Switches;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351339
