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To better restore human hand function, advanced hand prostheses should be able to deal with a variety of daily living conditions. In this paper, we addressed myoelectric signal variations introduced by different muscle contractions, dynamic arm movements, and outer interfering forces in the practice of pattern recognition-based myoelectric control schemes. We examined four different training paradigms...
It is known that the muscles actuate human hand joints with a coordinated manner and the hand postures can be reconstructed by a few (usually two) inputs through postural synergies, which has been applied in robotic hand design for reproducing the human versatile grasp function. As for the mechanical implementation, in terms of the joints implemented postural synergies, due to the excessive number...
Due to the hand biomechanical constrains and coordinate manner of motor control, single one joint is difficult to move independently. The aim of this paper is to have an analysis on the joint independence of hand and wrist. At first, a grasp experiment under the tolerance grasping was completed, and the hand and wrist joint angles in different grasping postures were recorded for representing the functionality...
In order to improve the prosthetic hand's design and usability, this paper presents a synthetic framework for evaluating the current prosthetic hands' anthropomorphic features with 12 quantified prosthetic hand anthropomorphism evaluation indexes (QPHAEIs). Our primary results show that a global anthropomorphic score (GAS) of the current commercial prosthetic hands is only 45.2%. The compliance, coupling...
A common source for controlling hand prosthesis is the myoelectric signal (MES, also termed electromyography, EMG) that are collected from human body. For a pattern recognition-based EMG control scheme, research has found that the classification accuracy obtained offline may deteriorate owing to signal instinct or changed environment, which results in a reduced system stability. Based on support vector...
A five-fingered, multi-sensory biomechatronic hand with sEMG interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage...
The development of a biomechatronic hand with multi-FSRs (Force Sensitive Resistor) interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage mechanism, each finger with three phalanges could fulfill flexion and extension independently...
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