Electric prosthetic hand activated using two-channel surface electromyography

摘要

This research aims to develop electric prosthetic hand that electrically activated using 2-channel surface electromyography (sEMG'), relied on physiological principle, biomedical electronics and microcontroller programming. Our development and designing controller are a 3-fingers robotic hand. A prototype consisted of 4 main components: 1) sEMG signal detector with electrodes, 2) signal conditioning with sEMG Muscle V3, 3) signal processing and controller with microcontroller ATMEL 328 (Arduino Pro Mini), and 4) 3-fingers robotic hand with 2-degree of freedoms completely attached on prosthetic arm. Functional test was performed to rotate the wrist hand, and grasp 4 items including cylinder, cubic, circular and egg-shaped, with the test conditions are near objects and 100 mm of distant. Both conditions were performed for 30 times. Results showed that success rate in grapping objects were 93%, 90% of cylinder, 96%, 93% of cubic, 100%, 96% of circular and 100%, 90 of egg-shaped, respectively. The force sensor was tested on egg-shaped, and pinch force was around 9.8 Newton. The success rate of a wrist hand rotation was 100%.