Dexterous Prosthetic Hand with Force Perception and Electrical Stimulation

doi:10.3901/JME.2019.11.010

Abstract

Abstract: The structural optimization, force tactile perception and the reconstruction of feedback function of a typical human-robot-environment synergic robot such as bio-electromechanical integrated dexterous manipulation prosthesis are studied. A method of cross-four-bar linkage parameter optimization for underactuated finger mechanism design is proposed, this method achieves the optimal trajectory of finger and the maximum ratio of PIP to MCP. The integrated design method of prosthetic finger and flexible pressure sensor is proposed to realize real-time force and tactile perception for grasping object. The method of tactile feedback of fingertip force based on electric stimulation is proposed to reproduce the grasp situation and grip strength of the prosthesis to increase the operator's sense of ontology. The simulation results show that the proposed method can improve the grasping ability of fingers. Nine healthy subjects and one forearm amputee were performed with dexterous hand control experiment. The experimental results showed that the proposed fingertip force tactile perception method could assist the subjects to complete fine grasp control. Compared with vibration stimulation, the use of electric stimulation as a force and tactile sense feedback device has better proprioception effect, and significantly improves the success rate of using the artificial hand to complete the grabbing task under visual obstruction.

Key words: dexterous prosthetic hand, electric stimulation feedback, force tactile perception

CLC Number:

TP242

HU Xuhui, SHI Ke, ZHU Jiahang, SONG Aiguo. Dexterous Prosthetic Hand with Force Perception and Electrical Stimulation[J]. Journal of Mechanical Engineering, 2019, 55(11): 10-18.

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