TAILIEUCHUNG - báo cáo hóa học: "Principal components analysis based control of a multi-dof underactuated prosthetic hand"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Principal components analysis based control of a multi-dof underactuated prosthetic hand | Matrone et al. Journal of NeuroEngineering and Rehabilitation 2010 7 16 http content 7 1 16 l dl JOURNAL OF NEUROENGINEERING NCR AND REHABILITATION RESEARCH Open Access Principal components analysis based control of a multi-dof underactuated prosthetic hand 1 1 -2 3 1 2 Giulia C Matrone Christian Cipriani Emanuele L Secco Giovanni Magenes Maria Chiara Carrozza Abstract Background Functionality controllability and cosmetics are the key issues to be addressed in order to accomplish a successful functional substitution of the human hand by means of a prosthesis. Not only the prosthesis should duplicate the human hand in shape functionality sensorization perception and sense of body-belonging but it should also be controlled as the natural one in the most intuitive and undemanding way. At present prosthetic hands are controlled by means of non-invasive interfaces based on electromyography EMG . Driving a multi degrees of freedom DoF hand for achieving hand dexterity implies to selectively modulate many different EMG signals in order to make each joint move independently and this could require significant cognitive effort to the user. Methods A Principal Components Analysis PCA based algorithm is used to drive a 16 DoFs underactuated prosthetic hand prototype called CyberHand with a two dimensional control input in order to perform the three prehensile forms mostly used in Activities of Daily Living ADLs . Such Principal Components set has been derived directly from the artificial hand by collecting its sensory data while performing 50 different grasps and subsequently used for control. Results Trials have shown that two independent input signals can be successfully used to control the posture of a real robotic hand and that correct grasps in terms of involved fingers stability and posture may be achieved. Conclusions This work demonstrates the effectiveness of a bio-inspired system successfully conjugating the advantages of an underactuated .

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