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Front. Inform. Technol. Electron. Eng.  2012, Vol. 13 Issue (10): 769-780    DOI: 10.1631/jzus.C1100257
    
An anthropomorphic controlled hand prosthesis system
Hai Huang, Hong Liu, Nan Li, Li Jiang, Da-peng Yang, Lei Wan, Yong-jie Pang, Gerd Hirzinger
National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China; State Key Laboratory of Robot and Systems, Harbin Institute of Technology, Harbin 150001, China; Institute of Robotics and Mechatronics, German Aerospace Center, DLR, Wessling 82230, Germany
An anthropomorphic controlled hand prosthesis system
Hai Huang, Hong Liu, Nan Li, Li Jiang, Da-peng Yang, Lei Wan, Yong-jie Pang, Gerd Hirzinger
National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China; State Key Laboratory of Robot and Systems, Harbin Institute of Technology, Harbin 150001, China; Institute of Robotics and Mechatronics, German Aerospace Center, DLR, Wessling 82230, Germany
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摘要： Based on HIT/DLR (Harbin Institute of Technology/Deutsches Zentrum für Luft- und Raumfahrt) Prosthetic Hand II, an anthropomorphic controller is developed to help the amputees use and perceive the prosthetic hands more like people with normal physiological hands. The core of the anthropomorphic controller is a hierarchical control system. It is composed of a top controller and a low level controller. The top controller has been designed both to interpret the amputee’s intensions through electromyography (EMG) signals recognition and to provide the subject–prosthesis interface control with electro-cutaneous sensory feedback (ESF), while the low level controller is responsible for grasp stability. The control strategies include the EMG control strategy, EMG and ESF closed loop control strategy, and voice control strategy. Through EMG signal recognition, 10 types of hand postures are recognized based on support vector machine (SVM). An anthropomorphic closed loop system is constructed to include the customer, sensory feedback system, EMG control system, and the prosthetic hand, so as to help the amputee perform a more successful EMG grasp. Experimental results suggest that the anthropomorphic controller can be used for multi-posture recognition, and that grasp with ESF is a cognitive dual process with visual and sensory feedback. This process while outperforming the visual feedback process provides the concept of grasp force magnitude during manipulation of objects.
关键词： Anthropomorphic controller;  Prosthetic hand;  EMG recognition;  Electro-cutaneous sensory feedback    
Abstract: Based on HIT/DLR (Harbin Institute of Technology/Deutsches Zentrum für Luft- und Raumfahrt) Prosthetic Hand II, an anthropomorphic controller is developed to help the amputees use and perceive the prosthetic hands more like people with normal physiological hands. The core of the anthropomorphic controller is a hierarchical control system. It is composed of a top controller and a low level controller. The top controller has been designed both to interpret the amputee’s intensions through electromyography (EMG) signals recognition and to provide the subject–prosthesis interface control with electro-cutaneous sensory feedback (ESF), while the low level controller is responsible for grasp stability. The control strategies include the EMG control strategy, EMG and ESF closed loop control strategy, and voice control strategy. Through EMG signal recognition, 10 types of hand postures are recognized based on support vector machine (SVM). An anthropomorphic closed loop system is constructed to include the customer, sensory feedback system, EMG control system, and the prosthetic hand, so as to help the amputee perform a more successful EMG grasp. Experimental results suggest that the anthropomorphic controller can be used for multi-posture recognition, and that grasp with ESF is a cognitive dual process with visual and sensory feedback. This process while outperforming the visual feedback process provides the concept of grasp force magnitude during manipulation of objects.
Key words: Anthropomorphic controller    Prosthetic hand    EMG recognition    Electro-cutaneous sensory feedback
收稿日期: 2011-09-01 出版日期: 2012-10-01
CLC:  TP241  
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Hai Huang
Hong Liu
Nan Li
Li Jiang
Da-peng Yang
Lei Wan
Yong-jie Pang
Gerd Hirzinger

引用本文:

Hai Huang, Hong Liu, Nan Li, Li Jiang, Da-peng Yang, Lei Wan, Yong-jie Pang, Gerd Hirzinger. An anthropomorphic controlled hand prosthesis system. Front. Inform. Technol. Electron. Eng., 2012, 13(10): 769-780.

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http://www.zjujournals.com/xueshu/fitee/CN/10.1631/jzus.C1100257    或    http://www.zjujournals.com/xueshu/fitee/CN/Y2012/V13/I10/769

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