Prosthetic Robot Hand controlled by EMG –Twisted String Actuation, Box and Block Test(BBT)

Описание: In this study, the hardware and control algorithm of the MSC prosthetic hand was introduced and its performance was verified by applying it to humans. We developed a new prosthetic hand to which a TSA-based 2-speed transmission ratio actuation is applied and controlled with an AI-based finger force intention estimation algorithm using electromyography. The developed prosthetic hand has the distinctive feature of dual-mode, and it was able to secure fast grasping speed and high force in each mode. In addition, a very light prosthetic hand (390g) was developed by applying TSA, which has high weight-efficiency. In addition, a portable system was developed by establishing an integrated system including electric field units and software for EMG acquisition, AI training, and calculation.

http://msc.kaist.ac.kr/

Related Reference
[1] Y. Cho, Y. Lee, P. Kim, S. H. Jeong, and K.-S. Kim, “The MSC Prosthetic Hand: Rapid, Powerful,
and Intuitive”, IEEE Robotics and Automation Letter, 2022.
[2] Y. Cho, P. Kim, and K.-S. Kim, “Estimating simultaneous and proportional finger force intention based on sEMG using a constrained autoencoder,” IEEE Access, vol. 8, pp. 138 264–138 276, 2020.
[3] S. H. Jeong, K.-S. Kim, and S. Kim, "Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors", IEEE Robotics and Automation Letter, 2017
[4] P. Kim, K.-S. Kim, and S. Kim, “Modified nonnegative matrix factorization using the hadamard product to estimate real-time continuous finger-motion intentions,” IEEE Transactions on Human-Machine Systems, vol. 47, no. 6, pp. 1089–1099, 2017.