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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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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.

Item URL in elib:https://elib.dlr.de/45448/
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 AuthorsAuthors ORCID iD
Zhoa, JingdongHarbin Institute of Technology, HIT, ChinaUNSPECIFIED
Xie, ZongwuHarbin Institute of Technology, HIT, ChinaUNSPECIFIED
Jiang, LiHarbin Institute of Technology, HIT, ChinaUNSPECIFIED
Cai, HegaoHarbin Institute of Technology, HIT, ChinaUNSPECIFIED
Liu, HongUNSPECIFIEDUNSPECIFIED
Hirzinger, GerhardUNSPECIFIEDUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
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 (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:31 Aug 2007
Last Modified:27 Apr 2009 13:14

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