다양한 표현능력이 있는 다지 근전 전동의수 개발

This paper presents a multi-fingered prosthetic hand which is controlled by two surface EMG sensors. Five-fingered anthromorphic hand is possible to control each finger independently, which grasp many type of the object and especially express the emotion of the amputee like victory symbol with two fingers stretch. To implement more light, minimized hand finger mechanism, 4-bar linkage mechanism were applied in each finger. In each active joint of finger, the worm gear mechanism was applied for the implementation of the self-locking system with simple mechanical structures. Also a micro-processor based controller was developed for managing two surface EMG sensors and 5 different motors independently, and a simple manipulation algorithm for the amputee was developed for the grasping control and switching the hand gestures. The experimental results show that the proposed prosthetic hand is feasible for grasping many type of the object and for expressing user emotion.