Title :
Development of prosthesis grasp control systems on a robotic testbed
Author :
Peerdeman, Bart ; Fabrizi, U. ; Palli, G. ; Melchiorri, Claudio ; Stramigioli, Stefano ; Misra, Sarthak
Author_Institution :
MIRA - Inst. for Biomed. Technol. & Tech. Med. (Control Eng. Group), Univ. of Twente, Enschede, Netherlands
Abstract :
Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.
Keywords :
electromyography; manipulators; medical robotics; prosthetics; UB; University of Bologna; high-level grasp planning; intrinsically passive controller; low-level finger control; multifunctional myoelectric prosthetic hands; prosthesis grasp control systems; robotic testbed; tendon-driven robotic hand; Control systems; Grasping; Joints; Robots; Springs; Tendons; Thumb;
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location :
Rome
Print_ISBN :
978-1-4577-1199-2
DOI :
10.1109/BioRob.2012.6290289