On the development of a novel adaptive prosthetic hand with compliant joints: Experimental platform and EMG control

被引：5

作者：

Carrozza, MC ^{[1
]}

Cappiello, G ^{[1
]}

Stellin, G ^{[1
]}

Zaccone, F ^{[1
]}

Vecchi, F ^{[1
]}

Micera, S ^{[1
]}

Dario, P ^{[1
]}

机构：

[1] Scuola Super Sant Anna, I-56025 Pontedera, PI, Italy

来源：

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年

关键词：

biomechatronies; prosthetics; compliant joints; under-actuation; rehabilitation;

D O I：

10.1109/IROS.2005.1545585

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper some recent results about the experimental trials we are performing on a functional prosthetic hand characterized by an EMG-control and by a simple and low cost fabrication technology are shown. The innovation described in this paper is the fabrication of a compliant under-actuated prosthetic hand: the structure of the hand (both palm and fingers) is moulded as a soft polymeric single part with compliant joints and embedded tendon driven under-actuated mechanism for providing adaptive grasp. The prosthetic hand has been designed following a biomechatronic approach based on biologically-inspired design solutions: we describe the second release of this prosthesis. The evaluating tests are related to the maximum force exerted during grasping and to the fatigue problems occurring with cables and joint.

引用

页码：3951 / 3956

页数：6

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