Closed-loop controller for a bio-inspired multi-fingered underactuated prosthesis

The paper presents a controller for a multi-fingered underactuated prosthetic hand based on tendon transmission. The control architecture is implemented in two subsequent and different phases. The first one is the pre-shaping of the hand, based on the grasp type is implemented by stand-alone motion controllers using PID position control algorithms. The desired force closure value is calculated according to the pre-shape measured tendons tension and to the grasping force. In the second phase, the involved fingers rapidly close around the object to perform a balanced distribution of the forces within the hand, as it happens in the human hand. The controller is thus able to perform successfully many stable grasps. An overview of the hardware architecture and the results in terms of grasping capabilities based on Cutkosky grasp taxonomy are also presented

[1]  Paolo Dario,et al.  The Cyberhand: on the design of a cybernetic prosthetic hand intended to be interfaced to the peripheral nervous system , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[2]  Paolo Dario,et al.  Experimental analysis of an innovative prosthetic hand with proprioceptive sensors , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  Fuqin Q. Xiong,et al.  Some Aspects of Nonstationary Myoelectric Signal Processing , 1987, IEEE Transactions on Biomedical Engineering.

[4]  Mark R. Cutkosky,et al.  On grasp choice, grasp models, and the design of hands for manufacturing tasks , 1989, IEEE Trans. Robotics Autom..

[5]  W Craelius,et al.  A biomimetic controller for a multifinger prosthesis. , 1999, IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society.

[6]  John G. Webster,et al.  Tactile Sensors for Robotics and Medicine , 1988 .

[7]  R. N. Scott,et al.  Myoelectric signal characteristics from muscles in residual upper limbs , 1994 .

[8]  Kazuo Tanie,et al.  A new consideration on tendon-tension control system of robot hands , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[9]  Mark L Latash,et al.  Central mechanisms of finger interaction during one- and two-hand force production at distal and proximal phalanges , 2002, Brain Research.