Development of a haptic system for grasp force control of underactuated prosthetics hands

Hyun Sang Lim; Hyo Chan Kwon; Kwon Hee Kim

doi:10.3795/KSME-A.2017.41.5.415

Development of a haptic system for grasp force control of underactuated prosthetics hands

Hyun Sang Lim, Hyo Chan Kwon, Kwon Hee Kim

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

Underactuated prosthetic hands are relatively light and economical. In this work, an economical grasping force control system is proposed for underactuated prosthetic hands with adaptive grasp capability. The prosthetic hand is driven by a main cable based on a set of electromyography sensors on the forearm of a user. Part of the main cable tension related to grasping force is fed back to the user by a skin-mounted vibrator. The proper relationship between the grasping force and the vibrator drive voltage was established and prototype tests were performed on a group of users. Relatively accurate grasping force control was achieved with minimal training of users.

Original language	English
Pages (from-to)	415-420
Number of pages	6
Journal	Transactions of the Korean Society of Mechanical Engineers, A
Volume	41
Issue number	5
DOIs	https://doi.org/10.3795/KSME-A.2017.41.5.415
Publication status	Published - 2017 May 1

Keywords

Feedback Control
Grasp Force
Prosthetic Hand
Underactuated Mechanism

ASJC Scopus subject areas

Mechanical Engineering

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10.3795/KSME-A.2017.41.5.415

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abstract = "Underactuated prosthetic hands are relatively light and economical. In this work, an economical grasping force control system is proposed for underactuated prosthetic hands with adaptive grasp capability. The prosthetic hand is driven by a main cable based on a set of electromyography sensors on the forearm of a user. Part of the main cable tension related to grasping force is fed back to the user by a skin-mounted vibrator. The proper relationship between the grasping force and the vibrator drive voltage was established and prototype tests were performed on a group of users. Relatively accurate grasping force control was achieved with minimal training of users.",

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AU - Kim, Kwon Hee

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Y1 - 2017/5/1

N2 - Underactuated prosthetic hands are relatively light and economical. In this work, an economical grasping force control system is proposed for underactuated prosthetic hands with adaptive grasp capability. The prosthetic hand is driven by a main cable based on a set of electromyography sensors on the forearm of a user. Part of the main cable tension related to grasping force is fed back to the user by a skin-mounted vibrator. The proper relationship between the grasping force and the vibrator drive voltage was established and prototype tests were performed on a group of users. Relatively accurate grasping force control was achieved with minimal training of users.

AB - Underactuated prosthetic hands are relatively light and economical. In this work, an economical grasping force control system is proposed for underactuated prosthetic hands with adaptive grasp capability. The prosthetic hand is driven by a main cable based on a set of electromyography sensors on the forearm of a user. Part of the main cable tension related to grasping force is fed back to the user by a skin-mounted vibrator. The proper relationship between the grasping force and the vibrator drive voltage was established and prototype tests were performed on a group of users. Relatively accurate grasping force control was achieved with minimal training of users.

KW - Feedback Control

KW - Grasp Force

KW - Prosthetic Hand

KW - Underactuated Mechanism

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Development of a haptic system for grasp force control of underactuated prosthetics hands

Abstract

Keywords

ASJC Scopus subject areas

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