Development of haptic prosthetic hand for realization of intuitive operation

Satoshi Fukushima, Takahiro Nozaki, Kouhei Ohnishi

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

This paper proposes a haptic prosthetic hand to realize intuitive operation for upper limb amputees. In the conventional myoelectric prostheses, it was hardly unable to control the grasping force precisely or to grasp an unevenly shaped object flexibly. In this paper, development of haptic prosthetic hand is achieved, which realizes intuitive operation by the following two functions: first, is the transmission of force sensation to the master interface attached to the healthy part of the body, second, is an adaptation to the shape of an object with flexibleness. The developed haptic prosthetic hand has multi degrees of freedom (DOFs), and the master interface has a limited number of DOF. Therefore, to control the multi-DOFs haptic prosthetic hand by a simple operation of the master interface, different DOF bilateral control is implemented as a control method. Haptics is used to realize intuitive operation, and the proposed variable compliance control is used for environmental adaptation. These functions enable to replace the force sensation of the missing hand, by any remaining healthy part of the body. Experiments were conducted to evaluate the function of the developed haptic prosthetic hand.

本文言語English
ホスト出版物のタイトルProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
出版社IEEE Computer Society
ページ6403-6408
ページ数6
ISBN(電子版)9781509034741
DOI
出版ステータスPublished - 2016 12月 21
イベント42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
継続期間: 2016 10月 242016 10月 27

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
国/地域Italy
CityFlorence
Period16/10/2416/10/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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