کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
732518 893249 2013 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robotic index finger prosthesis using stackable double 4-BAR mechanisms
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Robotic index finger prosthesis using stackable double 4-BAR mechanisms
چکیده انگلیسی

This paper suggests a robotic index finger prosthesis realized to be one degree-of-freedom by using stackable double 4-bar mechanisms. Also its control method makes use of two electromyographic (EMG) signals measured on skin surfaces of flexor digitorum superficialis (FDS) and extensor indicis (EI) in a lower arm. In this paper, we assume that EMG signals have some relations with velocity of muscle movement by neglecting finger dynamics due to its negligible small mass. In order to obtain desired position and velocity of robotic index finger, the measured raw EMG signals are processed by sequential procedures such as root mean squaring, applying threshold operation to extract the initial burst part, subtracting antagonistic EMG signal, and integrating by every 2 millisecond. Finally the effectiveness of the suggested mechanism and control method is verified through experiments.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 23, Issue 3, April 2013, Pages 318–325
نویسندگان
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