Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Wearable Interface for Tendon-driven Robotic Hand Prosthesis

건구동식 로봇 의수용 착용형 인터페이스

  • 정성윤 (동의대학교 대학원 지능시스템공학과) ;
  • 박찬영 (동의대학교 대학원 지능시스템공학과) ;
  • 배주환 (동의대학교 대학원 지능시스템공학과) ;
  • 문인혁 (동의대학교 메카트로닉스공학과)
  • Received : 2009.11.12
  • Accepted : 2010.01.07
  • Published : 2010.04.01
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Abstract

This paper proposes a wearable interface for a tendon-driven robotic hand prosthesis. The proposed interface is composed of a dataglove to measure finger and wrist joint angle, and a micro-control board with a wireless RF module. The interface is used for posture control of the robotic hand prosthesis. The measured joint angles by the dataglove are transferred to the main controller via the wireless module. The controller works for directly controlling the joint angle of the hand or for recognizing hand postures using a pattern recognition method such as LDA and k-NN. The recognized hand postures in this study are the paper, the rock, the scissors, the precision grasp, and the tip grasp. In experiments, we show the performances of the wearable interface including the pattern recognition method.

Keywords

References

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