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Surface EMG suffices to classify the motion of each finger independently

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  • Institut Für Robotik Und Mechatronik
Disciplines
  • Logic

Abstract

Surface EMG suffices to classify the motion of each finger independently Sebastian Maier and Patrick van der Smagt Abstract We introduce a learning method which can detect opening (extension) and closing (flexion) actions of all human fingers, as well as sideways movements (abduction/adduction) using lower arm surface EMG only. The method is shown to be used independently of the position of the arm. The method is ideally suited for the control of active prosthesis with a high number of active degrees of freedom. The method is successfully demonstrated on a robotic four-finger hand, and can be used to grasp objects. 1 Introduction Todays hand prosthesis are combined in paper [1] to mainly active and passive pros- thesis. According to paper [1] active, fully integrated, mechatronic, prosthetic hands become more and more important to give the patients the most possible functional capability back. Active prosthetic hands are commercially available of prosthesis manufacturers (e.g. Otto Bock, Motion Control, Liberating Technologies). On the manufacturers web pages there are only active hands with just one degree of free- dom, which only allows the patient to close and open the prosthetic hand. Most of the prosthetic hands are controlled over myoelectric (EMG) interfaces measuring the muscle activity of a patients lower arm. The motivation of this paper is to develop a control for a prosthetic, full integrated, robotic hand. The most important issue for the control of the robotic hand is the possibility to move all fingers of the robotic hand independently. For this task the Sebastian Maier Institute of Robotics and Mechatronics, German Aerospace Center (DLR Oberpfaffenhofen), P.O. Box 1116, 82230 Wessling, e-mail: [email protected] Patrick van der Smagt Institute of Robotics and Mechatronics, German Aerospace Center (DLR Oberpfaffenhofen), P.O. Box 1116, 82230 Wessling, e-mail: [email protected] 1 2 Sebastian Maier and Patrick van der Smagt control uses support vector machines

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