Abstract
Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.
Original language | Undefined |
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Title of host publication | Proceedings of the 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) |
Place of Publication | USA |
Publisher | IEEE |
Pages | 1110-1115 |
Number of pages | 6 |
ISBN (Print) | 978-1-4577-1199-2 |
DOIs | |
Publication status | Published - 24 Jun 2012 |
Event | 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy Duration: 24 Jun 2012 → 27 Jun 2012 Conference number: 4 |
Publication series
Name | |
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Publisher | IEEE Robotics and Automation Society |
ISSN (Print) | 2155-1774 |
ISSN (Electronic) | 2155-1782 |
Conference
Conference | 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 |
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Abbreviated title | BioRob |
Country/Territory | Italy |
City | Rome |
Period | 24/06/12 → 27/06/12 |
Keywords
- IR-81448
- EWI-22195
- METIS-287989