A Robust H_∞ Full-State Observer for Under-Tendon-Driven Prosthetic Hands

Evaluation of User-Prosthesis-Interfaces for sEMG-Based Multifunctional Prosthetic Hands

“…The Galileo Hand (shown in Figure 1) was the prosthetic device selected to validate this work. This prosthesis is an open-source and intrinsic device that encases five metal-geared micro DC motors to drive the under-tendon-driven (UTD) [41,42] mechanism of each finger, plus an additional DC motor with a quadrature encoder attached to perform the thumb rotation. This device consists of an anthropomorphic, modular, and intrinsic 3D-printed ABS shell; its weight and fabrication cost are under 350 g and USD 350, respectively.…”

“…Since the armature current i a of each DC motor is the only feedback signal measured from the system, a simple current on-off controller is implemented to perform the flexion process. In addition, a robust full-state observer is utilized to estimate the angular velocity and displacement, θ, of the gearhead shaft of each motor [42]. Thus, a robust state feedback controller is used to perform the extension process.…”

“…The main difference is that the subset, Q = {q 0 , q 1 }, is reduced to only two contractions. In this way, it is imitating the iteration proposed in [22,42], by utilizing "wave in" to act and "wave out" to select and deactivate a grip, illustrated in Figure 7. This simplified subset provides a viable alternative if some of the Myo poses are unperformable by the patient.…”