Skip to main content

Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand


Abstract The concept of postural synergies of the human hand has been shown to potentially reduce complexity in the neuromuscular control of grasping. By merging this concept with soft robotics approaches, a multi degrees of freedom soft-synergy prosthetic hand [SoftHand-Pro (SHP)] was created. The mechanical innovation of the SHP enables adaptive and robust functional grasps with simple and intuitive myoelectric control from only two surface electromyogram (sEMG) channels. However, the current myoelectric controller has very limited capability for fine control of grasp forces. We addressed this challenge by designing a hybrid-gain myoelectric controller that switches control gains based on the sensorimotor state of the SHP. This controller was test... (more)
Created Date 2018-01-10
Contributor Fu, Qiushi (ASU author) / Santello, Marco (ASU author) / Ira A. Fulton Schools of Engineering / School of Biomedical and Health Systems Engineering / Neural Control of Movement Laboratory
Series FRONTIERS IN NEUROROBOTICS
Type Text
Extent 15 pages
Language English
Identifier DOI: 10.3389/fnbot.2017.00071 / ISSN: 1662-5218
Copyright
Reuse Permissions
Citation Fu, Q., & Santello, M. (2018). Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand. Frontiers in Neurorobotics, 11. doi:10.3389/fnbot.2017.00071
Note View the article as published at https://www.frontiersin.org/articles/10.3389/fnbot.2017.00071/full
Collaborating Institutions ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


  Improving Fine Control of Grasping_2018.pdf
3.0 MB application/pdf
Download Count: 86