Myoelectric prosthetic hand with a proprioceptive feedback system

摘要

Design of a myoelectric prosthetic hand that satisfies the expectations of those who unfortunately lost a hand is discussed in this paper. That is to perform and look as close as a human hand, and to have a proprioceptive feedback in order to improve their quality of life. Linkage mechanisms are designed to replicate the trajectory of the human hand. Distinct seven grip patterns enable the prosthetic hand to manipulate different amputee needs. Kinematics and dynamics analysis are performed to estimate the required input motor torques, and to determine the hand force capabilities. The user controls the hand with the electromyography signal coming from the arm. The feedback system is then designed to reduce the relying of prosthetic users on visual or audible feedback. This system is divided into four separate categories: force sensing, feeling the temperature, motion sensing, and the final feedback allows the user to monitor and control the hand via an android application. Tests show that the suggested prosthetic hand is able to perform the required grip patterns correctly, and the hand can handle different objects in a wide range.