TY - GEN
T1 - Design and control of a multifunction myoelectric hand with new adaptive grasping and self-locking mechanisms
AU - Chu, Jun Uk
AU - Jung, Dong Hyun
AU - Lee, Yun Jung
PY - 2008
Y1 - 2008
N2 - This paper presents a multifunction myoelectric hand that is designed with underactuated mechanisms. The finger design allows an adaptive grasp, including adaptation between fingers and phalanges with respect to the shape of an object. In addition, a self-lock is embedded in the metacarpophalangeal joint to prevent back driving when external forces act on the fingers. The thumb design also provides adaptation between phalanges and adds an intermittent rotary motion to the carpometacarpal joint. As a result, the hand can perform versatile grasping motions using only two motors, and is capable of natural and stable grasping without complex sensor and servo systems. Moreover, the adaptive grasping capabilities reduce the requirements of electromyogram pattern recognition, as analogous motions, such as cylindrical and tip grasps, can be classified as one motion.
AB - This paper presents a multifunction myoelectric hand that is designed with underactuated mechanisms. The finger design allows an adaptive grasp, including adaptation between fingers and phalanges with respect to the shape of an object. In addition, a self-lock is embedded in the metacarpophalangeal joint to prevent back driving when external forces act on the fingers. The thumb design also provides adaptation between phalanges and adds an intermittent rotary motion to the carpometacarpal joint. As a result, the hand can perform versatile grasping motions using only two motors, and is capable of natural and stable grasping without complex sensor and servo systems. Moreover, the adaptive grasping capabilities reduce the requirements of electromyogram pattern recognition, as analogous motions, such as cylindrical and tip grasps, can be classified as one motion.
UR - http://www.scopus.com/inward/record.url?scp=51649128835&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543294
DO - 10.1109/ROBOT.2008.4543294
M3 - Conference contribution
AN - SCOPUS:51649128835
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 743
EP - 748
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -