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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Development of the Myoelectric Hand with a 2 DOF Auto Wrist Module

2 자유도 자동손목관절을 가진 근전 전동의수 개발

  • Park, Se-Hoon (Korea Orthopedics and Rehabilitation Engineering Center) ;
  • Hong, Beom-Ki (Korea Orthopedics and Rehabilitation Engineering Center) ;
  • Kim, Jong-Kwon (Korea Orthopedics and Rehabilitation Engineering Center) ;
  • Hong, Eyong-Pyo (Korea Orthopedics and Rehabilitation Engineering Center) ;
  • Mun, Mu-Seong (Korea Orthopedics and Rehabilitation Engineering Center)
  • 투고 : 2011.01.25
  • 심사 : 2011.05.24
  • 발행 : 2011.08.01
Download PDF
⟨ Previous Next ⟩

초록

An essential consideration to differentiate prosthetic hand from robot hand is its convenience and usefulness rather than high resolution or multi-function of the robot hand. Therefore, this study proposes a myoelectric hand with a 2 DOF auto wrist module which has 6 essential functions of the human hand such as open, grasp, pronation, supination, extension, flexion, which improves the convenience of the daily life. It consists of the 3 main parts, the myoelectric sensor for input signal without additional attachment to operate the prosthetic hand, hand mechanism with high-torqued auto-transmission mechanism and self-locking module which guarantee the safety under the abrupt emergency and minimum power consumption, and dual threshold based controller to make easy for adopting the multi-DOF myoelectric hand. We prove the validity of the proposed system with experimental results.

키워드

참고문헌

  1. http://www.utaharm.com
  2. http://www.touchbionics.com
  3. http://www.ottobock.com
  4. J. U. Chu, D. H. Jung, and Y. J. Lee, "Design control of a multifunction myoelectric hand with new adaptive grasping and self-locking mechanism," Int. Confs. on Robotics and Automation, pp. 743-748, 2008.
  5. S. I. Ahn, Y. H. Oh, and S. J. Kwon, "Design of a humanoid robot hand by mimicking human hand's motion and appearance," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 14, no. 1, pp. 62-69, 2008. https://doi.org/10.5302/J.ICROS.2008.14.1.062
  6. J. L. Pons, E. Rocon, and R. Ceres, "The manus-hand dextrous robotics upper limb prosthesis: Mechanical and manipulation aspect," Autonomous Robots, vol. 16, no. 2, pp. 143-163, 2004. https://doi.org/10.1023/B:AURO.0000016862.38337.f1
  7. M. C. Carrozza, R. Lazzarini, M. R. Cutkosky, and P. Dario, "The spring hand: Development of a self-adaptive prosthesis for restoring natural grasping," Autonomous Robots, vol. 16, pp. 125-141, 2004. https://doi.org/10.1023/B:AURO.0000016863.48502.98
  8. http://www.delsys.com
  9. J. U. Chu, I. H. Moon, S. K. Kim, and M. S. Mun, "A study on feature projection methods for a real-time EMG pattern recognition," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 12, no. 9, pp. 935-944, 2006. https://doi.org/10.5302/J.ICROS.2006.12.9.935
  10. S. Herle, S. Main, G. Lazea, C. Marcu, P. Raica, and R. Robotin, "Hierarchical myoelectric control of a human upper limb prosthesis," 19th int. workshop on Robotics in ALPE-Adria-Danube Region-RAAD, pp. 55-60, 2010.
  11. N. Kurisu, N. Tsujiuchi, and T. Koizumi, "Prosthetic hand control using motion discrimination from EMG signal," 31th int. Confs. of the IEEE EMBS Minneapolis, Minnesota, USA, pp. 6922-6925, 2009. https://doi.org/10.1109/IEMBS.2009.5333631
  12. M. J. Lee, I. H. Moon, and M. S. Mun, "Motion classification for myoelectric hand using double threshold," The 11th world congress of the ISPO, 2004.
  13. G. S. Kim, "Development of cylindrical-type finger force measuring system suing two-axis force/moment sensor and its characteristic evaluation," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 5, pp. 484-489, 2011. https://doi.org/10.5302/J.ICROS.2011.17.5.484
  14. S. S. Ahn, Y. M. Kim, and Y. J. Lee, "A deformable spherical robot with two arms" Journal of Institute of Control, Robotics and Systems (in Korean), vol. 16, no. 11, pp. 1060-1067, 2010. https://doi.org/10.5302/J.ICROS.2010.16.11.1060

피인용 문헌

  1. Brain Wave Characteristic Analysis by Multi-stimuli with EEG Channel Grouping based on Binary Harmony Search vol.19, pp.8, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1915