Embedded Control System for Multi-DOF Anthropomorphic Prosthetic Hand and Its Grasping Strategy

An embedded control system is designed for a kind of multi-DOF anthropomorphic prosthetic hands with five individually driven fingers and the capability of man-machine interaction.The proposed system is composed of sensory system and motion control system.They are all integrated in the body of prosthetic hand.To exchange information,the communication bus is used between the hand and the upper controller.Three kinds,a sum of 12 sensors are equipped both for automatic grasp control and for sensory feedback during man-machine interaction.The function of driving and controlling the motion of the fingers is supported by the motion control system.Furthermore,a kind of hierarchical control strategy is presented.The position based impedance control works as the low level and the feature pre-shape works as the high level. The experimental results show that,by the support of the embedded control system and the hierarchical control strategy,the prosthetic hand realizes automatic grasp,and its grasping compliance,stability and suitability are improved.