Hand prosthesis prototype controlled by EMG and vibrotactile force feedback

摘要

In the last 30 years very innovative prosthetic hands have been developed. Nevertheless, most of prosthetic hands are basically simple grippers with one or two degrees of freedom (DOFs) providing low functionality. Efforts have been made to improve the performance of devices so that they are as similar as possible with the human hand by exploring recent progresses in mechatronics technology. A major challenge in the development of prosthetic hands with a greater number of DOFs and, consequently, better functionality is to unite the entire system in a compact and lightweight design, besides provide some sensorial information to the amputee. The goal of this work is to develop a prosthesis concept which brings several advantages such as: lightweight, low energy consumption, reduction in volume, simple control and flexibility. In addition, the system is able to provide prehension force feedback. The mechanical design of a finger is described, which composes an artificial hand prototype of two active fingers, with three DOFs each one, and a static thumb. A force sensor provides feedback to the user through mechanical vibrations, ensuring greater safety to grasp an object. Also, a myoelectric control is implemented such that amputees are able to control their artificial limbs in a more natural way.