Volume 33, Issue 10 pp. 871-876

Myoelectric Hand Prosthesis Force Control Through Servo Motor Current Feedback

Tálita Saemi Payossim Sono,

Tálita Saemi Payossim Sono

Mechanical Engineering Department, Federal University of Minas Gerais, Belo Horizonte, MG, Brazil; and

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Luciano Luporini Menegaldo,

Corresponding Author

Luciano Luporini Menegaldo

Department of Mechanical and Materials Engineering, Military Institute of Engineering, Urca, Rio de Janeiro, Brazil

Prof. Luciano Luporini Menegaldo, Department of Mechanical and Materials Engineering, Military Institute of Engineering, Pa General Tiburcio 80, Urca, Rio de Janeiro-RJ, 22290-270, Brazil. E-mail: [email protected]Search for more papers by this author

Tálita Saemi Payossim Sono,

Tálita Saemi Payossim Sono

Mechanical Engineering Department, Federal University of Minas Gerais, Belo Horizonte, MG, Brazil; and

Search for more papers by this author

Luciano Luporini Menegaldo,

Corresponding Author

Luciano Luporini Menegaldo

Department of Mechanical and Materials Engineering, Military Institute of Engineering, Urca, Rio de Janeiro, Brazil

First published: 20 October 2009

https://doi.org/10.1111/j.1525-1594.2009.00813.x

Citations: 7

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Abstract

This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

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Volume33, Issue10

October 2009

Pages 871-876

Myoelectric Hand Prosthesis Force Control Through Servo Motor Current Feedback

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Myoelectric Hand Prosthesis Force Control Through Servo Motor Current Feedback

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