EMG Control for a Five-fingered Underactuated Prosthetic Hand Based on Wavelet Transform and Sample Entropy.
Zhoa, Jingdong and Xie, Zongwu and Jiang, Li and Cai, Hegao and Liu, Hong and Hirzinger, Gerhard (2006) EMG Control for a Five-fingered Underactuated Prosthetic Hand Based on Wavelet Transform and Sample Entropy. In: Proceedings. IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS, RSJ International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.
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A new five-fingered underactuated prosthetic hand control system is presented in this paper. The prosthetic hand control part is based on an EMG motion pattern classifier which combines VLR (variable learning rate) based neural network with wavelet transform and sample entropy. This motion pattern classifier can successfully identify flexion and extension of the thumb, the index finger and the middle finger, by measuring the surface EMG signals through three electrodes mounted on the flexor digitorum profundus, flexor pollicis longus and extensor digitorum. Furthermore, via continuously controlling single finger's motion, the prosthetic hand can achieve more prehensile postures such as power grasp, fingertip grasp, etc. The experimental results show that the classifier has a great potential application to the control of bionic man-machine systems because of its high recognition capability.
|Document Type:||Conference or Workshop Item (Paper)|
|Title:||EMG Control for a Five-fingered Underactuated Prosthetic Hand Based on Wavelet Transform and Sample Entropy.|
|Date:||09 October 2006|
|Journal or Publication Title:||Proceedings|
|In ISI Web of Science:||No|
|Publisher:||IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Keywords:||EMG, Prosthetic Hand, Neural Network, Wavelet Transform, Sample Entropy|
|Event Title:||IROS, RSJ International Conference on Intelligent Robots and Systems|
|Event Location:||Beijing, China|
|Event Type:||international Conference|
|Event Dates:||2006-10-09 - 2006-10-15|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Space|
|HGF - Program Themes:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research area:||Space|
|DLR - Program:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research theme (Project):||W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited By:||Gabriele Beinhofer|
|Deposited On:||31 Aug 2007|
|Last Modified:||27 Apr 2009 13:14|
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