Development of Underactuated Prosthetic Fingers with Joint Locking and Electromyographic Control

Research output: Contribution to journalArticleAcademicpeer-review

1 Downloads (Pure)

Abstract

Modern hand prostheses possess a large number of degrees of freedom. These degrees of freedom cannot simply be actuated by a single motor each, since their combined size and weight would exceed the limitations of an anthropomorphic prosthesis. Some hand prostheses try to remedy this by way of underactuation of the fingers or addition of entirely passive fingers, but this reduces the hand's ability to execute different grasp types. We present a joint locking system, allowing certain degrees of freedom to be fixed during actuation of an underactuated finger. These locks are actuated by miniature solenoids, and allow the fingers to support a variety of grasp types. In this paper, these locks are implemented in a two-fingered prosthesis prototype, which is able to perform several grasping motions important for prosthesis users. This prototype is controlled by pre-recorded electromyographic signals, which control different grasp types and their opening/closing. Various grasping experiments show that the prototype is able to execute three essential grasp types for daily living with a single main actuator, and can be intuitively controlled by means of six different electromyographic signals. This prototype demonstrates new joint locking mechanisms and control systems that can provide an anthropomorphic, myoelectric hand prosthesis with minimal actuation and intuitive control.
Original languageUndefined
Pages (from-to)130-142
Number of pages13
JournalMechanical engineering research
Volume3
Issue number1
DOIs
Publication statusPublished - 25 Apr 2013

Keywords

  • under-actuation
  • grasping
  • EWI-23315
  • IR-90895
  • joint locking
  • Electromyography
  • METIS-300929
  • hand prostheses

Cite this

@article{04631be3966145ddb7fc8636b2e7e809,
title = "Development of Underactuated Prosthetic Fingers with Joint Locking and Electromyographic Control",
abstract = "Modern hand prostheses possess a large number of degrees of freedom. These degrees of freedom cannot simply be actuated by a single motor each, since their combined size and weight would exceed the limitations of an anthropomorphic prosthesis. Some hand prostheses try to remedy this by way of underactuation of the fingers or addition of entirely passive fingers, but this reduces the hand's ability to execute different grasp types. We present a joint locking system, allowing certain degrees of freedom to be fixed during actuation of an underactuated finger. These locks are actuated by miniature solenoids, and allow the fingers to support a variety of grasp types. In this paper, these locks are implemented in a two-fingered prosthesis prototype, which is able to perform several grasping motions important for prosthesis users. This prototype is controlled by pre-recorded electromyographic signals, which control different grasp types and their opening/closing. Various grasping experiments show that the prototype is able to execute three essential grasp types for daily living with a single main actuator, and can be intuitively controlled by means of six different electromyographic signals. This prototype demonstrates new joint locking mechanisms and control systems that can provide an anthropomorphic, myoelectric hand prosthesis with minimal actuation and intuitive control.",
keywords = "under-actuation, grasping, EWI-23315, IR-90895, joint locking, Electromyography, METIS-300929, hand prostheses",
author = "B. Peerdeman and Stefano Stramigioli and Hekman, {Edsko E.G.} and Brouwer, {Dannis Michel} and Sarthak Misra",
note = "http://eprints.ewi.utwente.nl/23315",
year = "2013",
month = "4",
day = "25",
doi = "10.5539/mer.v3n1p130",
language = "Undefined",
volume = "3",
pages = "130--142",
journal = "Mechanical engineering research",
issn = "1927-0607",
publisher = "Canadian Center of Science and Education",
number = "1",

}

Development of Underactuated Prosthetic Fingers with Joint Locking and Electromyographic Control. / Peerdeman, B.; Stramigioli, Stefano; Hekman, Edsko E.G.; Brouwer, Dannis Michel; Misra, Sarthak.

In: Mechanical engineering research, Vol. 3, No. 1, 25.04.2013, p. 130-142.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - Development of Underactuated Prosthetic Fingers with Joint Locking and Electromyographic Control

AU - Peerdeman, B.

AU - Stramigioli, Stefano

AU - Hekman, Edsko E.G.

AU - Brouwer, Dannis Michel

AU - Misra, Sarthak

N1 - http://eprints.ewi.utwente.nl/23315

PY - 2013/4/25

Y1 - 2013/4/25

N2 - Modern hand prostheses possess a large number of degrees of freedom. These degrees of freedom cannot simply be actuated by a single motor each, since their combined size and weight would exceed the limitations of an anthropomorphic prosthesis. Some hand prostheses try to remedy this by way of underactuation of the fingers or addition of entirely passive fingers, but this reduces the hand's ability to execute different grasp types. We present a joint locking system, allowing certain degrees of freedom to be fixed during actuation of an underactuated finger. These locks are actuated by miniature solenoids, and allow the fingers to support a variety of grasp types. In this paper, these locks are implemented in a two-fingered prosthesis prototype, which is able to perform several grasping motions important for prosthesis users. This prototype is controlled by pre-recorded electromyographic signals, which control different grasp types and their opening/closing. Various grasping experiments show that the prototype is able to execute three essential grasp types for daily living with a single main actuator, and can be intuitively controlled by means of six different electromyographic signals. This prototype demonstrates new joint locking mechanisms and control systems that can provide an anthropomorphic, myoelectric hand prosthesis with minimal actuation and intuitive control.

AB - Modern hand prostheses possess a large number of degrees of freedom. These degrees of freedom cannot simply be actuated by a single motor each, since their combined size and weight would exceed the limitations of an anthropomorphic prosthesis. Some hand prostheses try to remedy this by way of underactuation of the fingers or addition of entirely passive fingers, but this reduces the hand's ability to execute different grasp types. We present a joint locking system, allowing certain degrees of freedom to be fixed during actuation of an underactuated finger. These locks are actuated by miniature solenoids, and allow the fingers to support a variety of grasp types. In this paper, these locks are implemented in a two-fingered prosthesis prototype, which is able to perform several grasping motions important for prosthesis users. This prototype is controlled by pre-recorded electromyographic signals, which control different grasp types and their opening/closing. Various grasping experiments show that the prototype is able to execute three essential grasp types for daily living with a single main actuator, and can be intuitively controlled by means of six different electromyographic signals. This prototype demonstrates new joint locking mechanisms and control systems that can provide an anthropomorphic, myoelectric hand prosthesis with minimal actuation and intuitive control.

KW - under-actuation

KW - grasping

KW - EWI-23315

KW - IR-90895

KW - joint locking

KW - Electromyography

KW - METIS-300929

KW - hand prostheses

U2 - 10.5539/mer.v3n1p130

DO - 10.5539/mer.v3n1p130

M3 - Article

VL - 3

SP - 130

EP - 142

JO - Mechanical engineering research

JF - Mechanical engineering research

SN - 1927-0607

IS - 1

ER -