On the Development of EMG Control for a Prosthetic Hand

The human hand is a complex end-effector capable of an astonishingly large variety of postures. The ease with which the human hand seems to adapt to changing requirements is one of the challenges to the designer of a plausible substitute. At the Robotics Research Laboratory at USC there is an ongoing research project to covert an existing anthropomorphic, shape-adaptive robot hand into a viable prosthetic device for below-elbow amputees. Preliminary results on EMG control of such a hand are presented here. (RESNA) Multifingered robot hands can approximate human hand functionality, and it is possible to consider their use in prosthetics. The Belgrade/USC robot hand is used as a prototype prosthetic hand in order to evaluate a system, PRESHAPE, that translates user commands into motor signals using the virtual finger concept. This paper describes the control philosophy of PRESHAPE and presents simulation results.

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