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We have developed a multi-functional joint mechanism with variable joint stiffness and the ability to sense external forces. In this joint, silicone rubber cushions are employed to adjust the joint stiffness by controlling the pressure in the cushions. In this study, we constructed a basic control system to synchronize joint motion and stiffness with those of a human, for potential application in...
A new biomimetic two-input EMG based control algorithm for a dexterous robotic hand is presented. The biomimetic controller maps the EMG control signals to the prosthesis in a more physiologically expected manner. By exploiting the muscular structure of the forearm, the controller permits control of both power and lateral pinch grasps in addition to a typing function with the index finger. Proportional...
A new biomimetic two-input EMG based control algorithm for a dexterous robotic hand is presented. The biomimetic controller maps the EMG control signals to the prosthesis in a more physiologically expected manner. By exploiting the muscular structure of the forearm, the controller permits control of both power and lateral pinch grasps in addition to a typing function with the index finger. Proportional...
Advanced myoelectric hand prostheses aim to reproduce as much of the human hand's functionality as possible. Development of the control system of such a prosthesis is strongly connected to its mechanical design; the control system requires accurate information on the prosthesis' structure and the surrounding environment, which can make development difficult without a finalized mechanical prototype...
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