Zhoa, Jingdong und Xie, Zongwu und Jiang, Li und Cai, Hegao und Liu, Hong und 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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Kurzfassung
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.
elib-URL des Eintrags: | https://elib.dlr.de/45448/ | ||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Paper) | ||||||||||||||||||||||||||||
Titel: | EMG Control for a Five-fingered Underactuated Prosthetic Hand Based on Wavelet Transform and Sample Entropy. | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 9 Oktober 2006 | ||||||||||||||||||||||||||||
Erschienen in: | Proceedings | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||
Verlag: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | EMG, Prosthetic Hand, Neural Network, Wavelet Transform, Sample Entropy | ||||||||||||||||||||||||||||
Veranstaltungstitel: | IROS, RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||||||
Veranstaltungsort: | Beijing, China | ||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 9 Oktober 2006 | ||||||||||||||||||||||||||||
Veranstaltungsende: | 15 Oktober 2006 | ||||||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||||||||||||||
HGF - Programm: | Weltraum (alt) | ||||||||||||||||||||||||||||
HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Weltraum | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||||||||||||||
Hinterlegt am: | 31 Aug 2007 | ||||||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 19:07 |
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