Design of a myoelectric prosthetic hand implementing postural synergy mechanically

Li, Shunchong; Sheng, Xinjun; Liu, Honghai; Zhu, Xiangyang

doi:10.1108/ir-03-2014-0312

Cited by 28 publications

(10 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For example, Brown and Asada [10] designed a mechanical implementation of PCA results for a hand using pulley-slider systems to realize inter-finger coordination. Xu et al [11] [12], Li et al [13], Chen et al [14], Xiong et al [15] also proposed several studies to enable hardware synergies for anthropomorphic hands, based on different types of mechanisms such as gears, continuum mechanisms, cams, and sliders. These studies only consider postural behaviors without the notion of force, so they do not have a guarantee for grasp stability.…”

Section: Related Workmentioning

confidence: 99%

“…Here we explain why the minimum is not unique. Let us assume we have found a set of optimal tendon moment arms, with a certain x (thus a certain set of t net ) in (13). As long Outer layer: a stochastic global search for all grasps • Search: tendon moment arms (19) (but they are not fully determined at this step, since the minima are not unique) • Minimize: the root of squared sum of all grasps' metrics from inner layer (20) • Subject to: tendon moment arms within bounds (21) Inner layer: a QP for an individual grasp • Find: contact wrenches and tendon tensions (13) • Minimize: post-contact net joint torques unbalanced by contacts (14) • Subject to:…”

Section: B Optimization Of Mechanically Realizable Torque Manifoldmentioning

confidence: 99%

See 1 more Smart Citation

Underactuation Design for Tendon-Driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces

et al. 2020

View full text Add to dashboard Cite

Grasp synergies represent a useful idea to reduce grasping complexity without compromising versatility. Synergies describe coordination patterns between joints, either in terms of position (joint angles) or effort (joint torques). In both of these cases, a grasp synergy can be represented as a low-dimensional manifold lying in the high-dimensional joint posture or torque space. In this paper, we use the term Mechanically Realizable Manifolds to refer to the subset of such manifolds (in either posture or torque space) that can be achieved via mechanical coupling of the joints in underactuated hands. We present a method to optimize the design parameters of an underactuated hand in order to shape the Mechanically Realizable Manifolds to fit a pre-defined set of desired grasps. Our method guarantees that the resulting synergies can be physically implemented in an underactuated hand, and will enable the resulting hand to both reach the desired grasp postures and achieve quasistatic equilibrium while loading the grasps. We demonstrate this method on three concrete design examples motivated by a real use case, and evaluate and compare their performance in practice.Index Terms-tendon-driven underactuated hands, Mechanically Realizable Manifolds, synergies All authors are with the

show abstract

Section: Related Workmentioning

confidence: 99%

Section: B Optimization Of Mechanically Realizable Torque Manifoldmentioning

confidence: 99%

Underactuation Design for Tendon-Driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces

et al. 2020

View full text Add to dashboard Cite

show abstract

“…Then an optimization could be formulated as in Eq. (19) for the calculation of the synergy inputs (q 1i and q 2i ) so that the reconstruction errors are to be minimized. These new points are designated as Set-3 0 in Fig.…”

Section: Please Check Citationmentioning

confidence: 99%

A Comparative Study for Postural Synergy Synthesis Using Linear and Nonlinear Methods

Liu

et al. 2016

Int. J. Human. Robot.

Self Cite

View full text Add to dashboard Cite

Human controls dozens of muscles for different hand postures in a coordinated manner. Such coordination is referred to as a postural synergy. Postural synergy has enabled an anthropomorphic robotic hand with many actuators to be applied as a prosthetic hand and controlled by two to three channels of biological signals. Principle component analysis (PCA) of the hand postures has become a popular way to extract the postural synergies. However, relatively big errors are often produced while the hand postures are reconstructed using these PCA-synthesized synergies due to the linearity nature of this method. This paper presents a comparative study in which the postural synergies are synthesized using both linear and nonlinear methods. Specifically, the Gaussian process latent variable model (GPLVM), as a nonlinear dimension reduction method, is implemented to produce nonlinear postural synergies and the hand postures can then be reconstructed from the two-dimensional synergy plane. Computational and experimental verifications show that the posture reconstruction errors are greatly reduced using this nonlinear method. The results suggest that the use of nonlinear postural synergies should be considered while applying a dexterous robotic hand as prosthesis. Versatile hand postures could be formed via only two channels of bio-signals.

show abstract

“…The simulation tool was used to analyze the performance of the "SJT-5" Hand, a multifingered underactuated humanoid robotic hand based on postural synergy developed in our previous works (see Fig.8) [17]. The D-H parameters of the hand are shown in Table III.…”

Section: B Five-fingered Anthropomorphic Robotic Handmentioning

confidence: 99%

“…We propose a quasi-static grasping analysis tool called "SJT-GraspSim" based on Quadratic Program (QP) solver and apply it to simulate the grasping process of the SJT-5 Hand [17], a multifingered postural synergy based underactuated robotic hand developed in our previous work.…”

Section: Introductionmentioning

confidence: 99%

Modelling and analyzing of postural synergy based underactuated robotic hand with contact and friction constraints

Sheng

Zhu

2015

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

View full text Add to dashboard Cite

Underactuated robotic hands based on postural synergy with passive joint compliance have shown promising performance in robust grasping. However it is still lack of universal theoretical analysis for this type of robotic hand. In this paper we start from the previous model and analysis method, modifying the fundamental model by introducing the contact and friction constraints in grasping. A simulation tool called "SJT-GraspSim" based on Quadratic Program solver has been developed and apply to evaluate the performance of the "SJT-5" Hand developed in our previous work. The results show that the proposed model and method have a wider range of application.

show abstract

Design of a myoelectric prosthetic hand implementing postural synergy mechanically

Cited by 28 publications

References 25 publications

Underactuation Design for Tendon-Driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces

Underactuation Design for Tendon-Driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces

A Comparative Study for Postural Synergy Synthesis Using Linear and Nonlinear Methods

Modelling and analyzing of postural synergy based underactuated robotic hand with contact and friction constraints

Contact Info

Product

Resources

About