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CLC number: TP241

On-line Access: 2012-10-01

Received: 2011-09-01

Revision Accepted: 2012-07-17

Crosschecked: 2012-09-11

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Journal of Zhejiang University SCIENCE C 2012 Vol.13 No.10 P.769-780


An anthropomorphic controlled hand prosthesis system

Author(s):  Hai Huang, Hong Liu, Nan Li, Li Jiang, Da-peng Yang, Lei Wan, Yong-jie Pang, Gerd Hirzinger

Affiliation(s):  National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China; more

Corresponding email(s):   haihus@163.com

Key Words:  Anthropomorphic controller, Prosthetic hand, EMG recognition, Electro-cutaneous sensory feedback

Hai Huang, Hong Liu, Nan Li, Li Jiang, Da-peng Yang, Lei Wan, Yong-jie Pang, Gerd Hirzinger. An anthropomorphic controlled hand prosthesis system[J]. Journal of Zhejiang University Science C, 2012, 13(10): 769-780.

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author="Hai Huang, Hong Liu, Nan Li, Li Jiang, Da-peng Yang, Lei Wan, Yong-jie Pang, Gerd Hirzinger",
journal="Journal of Zhejiang University Science C",
publisher="Zhejiang University Press & Springer",

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%T An anthropomorphic controlled hand prosthesis system
%A Hai Huang
%A Hong Liu
%A Nan Li
%A Li Jiang
%A Da-peng Yang
%A Lei Wan
%A Yong-jie Pang
%A Gerd Hirzinger
%J Journal of Zhejiang University SCIENCE C
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%N 10
%P 769-780
%@ 1869-1951
%D 2012
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C1100257

T1 - An anthropomorphic controlled hand prosthesis system
A1 - Hai Huang
A1 - Hong Liu
A1 - Nan Li
A1 - Li Jiang
A1 - Da-peng Yang
A1 - Lei Wan
A1 - Yong-jie Pang
A1 - Gerd Hirzinger
J0 - Journal of Zhejiang University Science C
VL - 13
IS - 10
SP - 769
EP - 780
%@ 1869-1951
Y1 - 2012
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.C1100257

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.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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