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Surface EMG in advanced hand prosthetics

Castellini, Claudio and Patrick, van der Smagt (2008) Surface EMG in advanced hand prosthetics. Biological Cybernetics, Volume (Number), pp. 35-47. Springer Berlin / Heidelberg.

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Official URL: http://www.springerlink.com/content/q7l5630002356170/


One of the major problems when dealing with highly dexterous, active hand prostheses is their control by the patient wearing them. With the advances in mechatronics, building prosthetic hands with multiple active degrees of freedom is realisable, but actively controlling the position and especially the exerted force of each finger cannot yet be done naturally. This paper deals with advanced robotic hand control via surface electromyography. Building upon recent results, we show that machine learning, together with a simple downsampling algorithm, can be effectively used to control on-line, in real time, finger position as well as finger force of a highly dexterous robotic hand. The system determines the type of grasp a human subject is willing to use, and the required amount of force involved, with a high degree of accuracy. This represents a remarkable improvement with respect to the state-of-the-art of feed-forward control of dexterous mechanical hands, and opens up a scenario in which amputees will be able to control hand prostheses in a much finer way than it has so far been possible.

Document Type:Article
Title:Surface EMG in advanced hand prosthetics
AuthorsInstitution or Email of Authors
Castellini, ClaudioLIRA-Lab, University of Genova, viale F. Causa, 13, 16145 Genova, Italy
Patrick, van der SmagtUNSPECIFIED
Date:18 November 2008
Journal or Publication Title:Biological Cybernetics
Page Range:pp. 35-47
Publisher:Springer Berlin / Heidelberg
Series Name:Volume 100, Number 1 / Januar 2009
Keywords:Learning and adaptive systems - Rehabilitation robotics - Physical human-robot interaction
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:13 Jan 2010 13:23
Last Modified:12 Dec 2013 20:51

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