Development of an electromyographic controlled biomimetic prosthetic hand

摘要

This paper presents the development of an electromyogram controlled extreme upper limb prosthetic hand prototype following a biomimetic approach. The biomimetic approach is followed to harmonise both physical and functional aspects of the human hand. The prototype with tendon driven fingers possesses 15 degrees of freedom. It can perform grasping operations involved during 70% of daily living activities. The control is in two stages: superior hand control (SHC) and local hand control (LHC). The SHC involves a grasp recognition module responsible for recognition of the grasp type indented by the user. The LHC involves a translation module responsible for emulating the identified grasp type into the prototype. The results obtained for finger joint trajectories during a precision grasp through the two stage control architecture in conformity to the human hand finger.