Prototyping of EMG-Controlled Prosthetic Hand with Sensory System

This paper presents a highly integrated underactuated prosthetic hand equipped with feedback system for performing man-machine interference. The prosthetic hand is composed of five fingers. The hand is actuated by six DC motors, one for each finger plus one for thumb opposition. Motors are inside the palm, while sensors spread all over the construction. The integrated control system is consist of motion control subsystem and sensory subsystem. The motion control subsystem is crucial as the sensory subsystem for both the amputee using prosthetic hand and its control algorithms. Thanks to numerous sensors it is possible to achieve better controlability of phalanges and, especially, the fingertip. For getting the knowledge of grasping force of the prosthetic hand a sensory feedback system between amputee and device is proposed. Force sensor transmits the data about force of grasp to controller, potentiometers and hall effect sensors transmit information about phalanx position and joint angles, while controller convent these signals into vibration intensity of vibromotors, sound signals given by the piezospeaker about hand state. In addition, visual information helps amputee to control the prosthetic hand. Vibromotors located on the surface of amputee arm in special wristband. Thus data input consisting of 3 independent channels of information, makes the control of the hand much easier. Thanks to vibration signals the amputee is able to feel how strong he hold a object. At the end of this paper, the control system is described. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.