EMG-based prosthetic hand control system inspired by missing-hand movement

摘要

This paper presents a prosthetic hand control system for trans-radial amputees based on electromyogram (EMG) signal processing. This study aims at extracting the muscle commands from surface electromyogram (sEMG) for controlling the prosthetic hand connected to the amputation part. The proposed prosthetic hand is developed so as to realize 10 joints including 4 active joints driven by electrical motors. For a practical verification, the trans-radial amputee having the developed prosthetic hand performs the individual finger control as well as peg-in-hole task according to the phantom-hand movement.