http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Myoelectric Hand Prosthesis with Novel Adaptive Grasping and Self-locking
최귀원,추준욱,정동현,윤인찬,이연정 한국정밀공학회 2011 International Journal of Precision Engineering and Vol.12 No.6
This paper presents a novel hand prosthesis controlled by electromyography (EMG) signals. Using an underactuated approach, the hand allows four fingers to flex independently with one actuator, plus the fingers and phalanges provide adaptation with respect to the shape of an object. An innovative self-lock is also embedded in the metacarpophalangeal joint to prevent back-driving when external forces act on the fingers. The thumb is designed to perform flexion/extension and abduction/adduction with one actuator, while the wrist is driven in a differential manner using two actuators. As a result,the hand has eighteen degrees of freedom with only four actuators. Furthermore, it is controlled in real-time by the previously proposed EMG pattern recognition method.13 Ten kinds of hand motions are classified from four channel EMG signals with a high accuracy and corresponding motion commands are generated for hand control. Experimental results demonstrate the effectiveness of the hand design and validity of the EMG-based hand control.