Myoelectric hand prosthesis force control through servo motor current feedback.
This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.
Sono
Tálita Saemi Payossim
TS
Mechanical Engineering Department, Federal University of Minas Gerais, Belo Horizonte, MG, Brazil.
Menegaldo
Luciano Luporini
LL
D000465:Algorithms; D001186:Artificial Limbs; D001696:Biomechanical Phenomena; D003187:Compliance; D004576:Electromyography; D005246:Feedback; D005385:Fingers; D006225:Hand; D018737:Hand Strength; D006801:Humans; D008954:Models, Biological; D009046:Motor Neurons / Q000502:physiology*; D009048:Motor Skills; D018482:Muscle, Skeletal / Q000294:innervation*; D011474:Prosthesis Design; D012815:Signal Processing, Computer-Assisted; D019415:Torque