Transhumeral prosthesis prototype with 3D printing and sEMG-based elbow joint control method

Author

Sittiwanchai, Teppakorn ; Nakayama, Ippei ; Inoue, Shingo ; Kobayashi, Junya

Author_Institution

Center for Innovation in Human Factors Eng. & Ergonomics, King Mongkut´s Univ. of Technol. North Bangkok, Bangkok, Thailand

fYear

2014

fDate

10-12 Aug. 2014

Firstpage

227

Lastpage

231

Abstract

In this study, we have designed a transhumeral prosthesis and built its prototype with 3D printing. It is characterized as a 4-DOF robotic arm like a human lower arm. In addition, we have devised an elbow joint control method for the prosthesis. The elbow joint is driven based on surface electromyogram (sEMG) signals from user´s two upper arm muscles, biceps and triceps. The control method generates a rotation speed command for servomotors installed on the elbow joint based on feature values extracted from the sEMG signals. The prosthesis prototype with the control method worked under controlled conditions, but it requires further improvement for practical use.

Keywords

electromyography; humanoid robots; manipulator dynamics; prosthetics; 3D printing; 4-DOF robotic arm; feature value extraction; human lower arm; sEMG-based elbow joint control method; surface electromyogram signal; transhumeral prosthesis prototype; Elbow; Feature extraction; Joints; Muscles; Prosthetics; Prototypes; Three-dimensional displays; 3D printing; prosthesis; suraface EMG;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Mechatronic Systems (ICAMechS), 2014 International Conference on

Conference_Location

Kumamoto

Type

conf

DOI

10.1109/ICAMechS.2014.6911655

Filename

6911655