This paper presents an anthropomorphic prosthetic hand using flexure hinges, which is controlled by the surface electromyography （sEMG） signals from 2 electrodes only. The prosthetic hand has compact structure with ...This paper presents an anthropomorphic prosthetic hand using flexure hinges, which is controlled by the surface electromyography （sEMG） signals from 2 electrodes only. The prosthetic hand has compact structure with 5 fingers and 4 Degree of Freedoms （DoFs） driven by 4 independent actuators. Helical springs are used as elastic joints and the joints of each finger are coupled by tendons. The myoelectric control system which can classify 8 prehensile hand gestures is built. Pattern recognition is employed where Mean Absolute Value （MAV）, Variance （VAR）, the fourth-order Autoregressive （AR） coefficient and Sample Entropy （SE） are chosen as the optimal feature set and Linear Discriminant Analysis （LDA） is utilized to reduce the dimension. A decision of hand gestures is generated by LDA classifier after the current projected feature set and the previous one are ＂pre-smoothed＂, and then the final decision is obtained when the current decision and previous decisions are ＂post-smoothed＂ from the decisions flow. The prosthetic hand can perform prehensile postures for activities of daily living and carry objects under the control of EMG signals.展开更多
Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion.In this work,several crawling robots are developed using two types of soft pneumatic actuators(SPAs),namely,an ...Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion.In this work,several crawling robots are developed using two types of soft pneumatic actuators(SPAs),namely,an axial elongation SPA and a dual bending SPA.By constraining the deformation of the elastomeric chamber,the SPAs realize their prescribed motions,and the deformations subjected to pressures are characterized with numerical models.Experiments are performed for verification,and the results show good agreement.The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.Control schemes are presented,and crawling tests are performed.The speeds predicted by the numerical models agree well with the speeds in the experiments.展开更多
基金This work is supported by National Natural Science Foundation of China （Grant Nos. 51575187 and 91223201）, Science and Technology Program of Guangzhou （Grant No. 2014Y2-00217）, Science and Technology Major Project of Huangpu District of Guang-Zhou （Grant No, 20150000661）, the Fundamental Research Funds for the Central University （Grant No. 2015ZZ007） and Natural Science Foundation of Guangdong Province （Grant No. S2013030013355）.
文摘This paper presents an anthropomorphic prosthetic hand using flexure hinges, which is controlled by the surface electromyography （sEMG） signals from 2 electrodes only. The prosthetic hand has compact structure with 5 fingers and 4 Degree of Freedoms （DoFs） driven by 4 independent actuators. Helical springs are used as elastic joints and the joints of each finger are coupled by tendons. The myoelectric control system which can classify 8 prehensile hand gestures is built. Pattern recognition is employed where Mean Absolute Value （MAV）, Variance （VAR）, the fourth-order Autoregressive （AR） coefficient and Sample Entropy （SE） are chosen as the optimal feature set and Linear Discriminant Analysis （LDA） is utilized to reduce the dimension. A decision of hand gestures is generated by LDA classifier after the current projected feature set and the previous one are ＂pre-smoothed＂, and then the final decision is obtained when the current decision and previous decisions are ＂post-smoothed＂ from the decisions flow. The prosthetic hand can perform prehensile postures for activities of daily living and carry objects under the control of EMG signals.
基金supported by the National Natural Science Foundation of China(Grant Nos.52075180 and U1713207)the Science and Technology Program of Guangzhou(Grant No.201904020020)the Fundamental Research Funds for the Central Universities.
文摘Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion.In this work,several crawling robots are developed using two types of soft pneumatic actuators(SPAs),namely,an axial elongation SPA and a dual bending SPA.By constraining the deformation of the elastomeric chamber,the SPAs realize their prescribed motions,and the deformations subjected to pressures are characterized with numerical models.Experiments are performed for verification,and the results show good agreement.The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.Control schemes are presented,and crawling tests are performed.The speeds predicted by the numerical models agree well with the speeds in the experiments.
