Robotic index finger prosthesis using stackable double 4-BAR mechanisms
- Title
- Robotic index finger prosthesis using stackable double 4-BAR mechanisms
- Author
- 최영진
- Keywords
- Stackable double 4-bar mechanism; Electromyography (EMG); Robotic index finger prosthesis
- Issue Date
- 2013-04
- Publisher
- Pergamon Press Ltd.
- Citation
- Mechatronics, v. 23, NO. 3, Page. 318-325
- Abstract
- 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. (C) 2013 Elsevier Ltd. All rights reserved.
- URI
- https://www.sciencedirect.com/science/article/pii/S0957415813000172?via%3Dihubhttps://repository.hanyang.ac.kr/handle/20.500.11754/180891
- ISSN
- 0957-4158
- DOI
- 10.1016/j.mechatronics.2013.01.006
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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