elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

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.

Full text not available from this repository.

Abstract

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.
Authors:
AuthorsInstitution or Email of Authors
Zhoa, JingdongHarbin Institute of Technology, HIT, China
Xie, ZongwuHarbin Institute of Technology, HIT, China
Jiang, LiHarbin Institute of Technology, HIT, China
Cai, HegaoHarbin Institute of Technology, HIT, China
Liu, HongUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Publisher:IEEE/RSJ International Conference on Intelligent Robots and Systems
Status:Published
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
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
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)
Location: Oberpfaffenhofen
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

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.