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A low-cost system to control prehension force of a custom-made myoelectric hand prosthesis

A low-cost system to control prehension force of a custom-made myoelectric hand prosthesis PurposeIn order to achieve stable and dexterous grasping of objects, prehension force control is quite a significant parameter for prosthetic hands. Commercially available hands such as bebionic, i-limb quantum and Michelangelo offer the precise grasping capability to perform activities of daily living (ADLs). However, the cost of such hands is too expensive for amputees residing in low-income countries.MethodsThis paper introduces a low-cost, simple and efficient system for controlling the prehension force of a self-designed myoelectric prosthetic hand. A hand prototype was developed employing 3D printing technology and an intrinsic actuation approach. The hand fingers were equipped with a pre-calibrated force sensor for the online estimation of the grasp force. A closed-loop proportional-derivative (PD) based position control system was designed considering actuator as plant, electromyography (EMG) as a reference and grasp force as a feedback signal.ResultsThe results showed highly improved parameters, i.e. overshoot, offset and settling time of the proposed system than a simple open-loop system. These parameters guarantee faster closing of hand fingers and the production of accurate prehension force during finger-object interaction.ConclusionFurther, the myoelectric hand with a developed control scheme was successfully tested on five different transradial amputees for performing precise and faster grasping of different shaped objects. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Research on Biomedical Engineering Springer Journals

A low-cost system to control prehension force of a custom-made myoelectric hand prosthesis

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Publisher
Springer Journals
Copyright
Copyright © Sociedade Brasileira de Engenharia Biomedica 2020
ISSN
2446-4732
eISSN
2446-4740
DOI
10.1007/s42600-020-00064-w
Publisher site
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Abstract

PurposeIn order to achieve stable and dexterous grasping of objects, prehension force control is quite a significant parameter for prosthetic hands. Commercially available hands such as bebionic, i-limb quantum and Michelangelo offer the precise grasping capability to perform activities of daily living (ADLs). However, the cost of such hands is too expensive for amputees residing in low-income countries.MethodsThis paper introduces a low-cost, simple and efficient system for controlling the prehension force of a self-designed myoelectric prosthetic hand. A hand prototype was developed employing 3D printing technology and an intrinsic actuation approach. The hand fingers were equipped with a pre-calibrated force sensor for the online estimation of the grasp force. A closed-loop proportional-derivative (PD) based position control system was designed considering actuator as plant, electromyography (EMG) as a reference and grasp force as a feedback signal.ResultsThe results showed highly improved parameters, i.e. overshoot, offset and settling time of the proposed system than a simple open-loop system. These parameters guarantee faster closing of hand fingers and the production of accurate prehension force during finger-object interaction.ConclusionFurther, the myoelectric hand with a developed control scheme was successfully tested on five different transradial amputees for performing precise and faster grasping of different shaped objects.

Journal

Research on Biomedical Engineering – Springer Journals

Published: Sep 6, 2020

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