The activities of muscles in the forearm have been widely investigated to develop human interfaces involving hand motions, especially fields prosthetic hands and teleoperation. Although surface electromyography (sEMG) is considered as an effective biological signal from which motions can be recognized, availability quality sEMG data limit usability intuitiveness interfaces. This article introduces force myography (FMG) a supplementary proposes layered sEMG–FMG hybrid sensor that measure both...

The usability of a prosthetic hand differs significantly from that real hand. Moreover, the complexity manipulation increases as number degrees freedom to be controlled increases, making with biological signals extremely difficult. To overcome this problem, users need select grasping posture is adaptive object and stable method prevents falling. In previous studies, these have been left operating skills user, which difficult achieve. study, we demonstrate how can achieved according...

This article proposes coupled tendon-driven joint modules for anthropomorphic robots. Fully actuated 2-degree-of-freedom (DoF) and 3-DoF are classified analyzed based on the motor-joint routing matrix that describes tendon structure between motors joints. Two-motor 2-DoF (2M2D) modules, which share same form of matrix, into four types: externally actuated, internally coaxially separately hybrid-actuated according to location motors. Three-motor (3M3D) forms possible matrix: fully routed...

Abstract To achieve robust sEMG measurements in an EMG prosthetic system, this study proposes a surface electromyogram (sEMG) sensor with novel electrode structure composed of two-layered conductive silicone different carbon concentrations. We hypothesized there is optimal concentration for achieving large amplitude robustness to external perturbation, and we empirically determined concentration. produced fourteen sets electrodes, the weight ratio ranging from 1.7% 4.0%. Using these user...

In this study, a new humanoid shoulder is developed using coupled tendon-driven mechanism that consists of three motors to drive degrees freedom (DoFs). the mechanism, multiple simultaneously joints with each joint driven by at least two tendons. The torque motor redistributed in certain proportion improve load capacity joints. 3M3D (3-motor 3-DoF) module systematically analyzed and divided into four categories according transmission characteristics between joints: fully routed motor-joint...

A 2 motor degrees-of-freedom (2M2D) coupled tendon driven joint module is proposed as a basic component for robot arms. Torque reallocation via coupling can enhance the output torque of one single joint. According to position, classified into four types: externally-actuated structure, internally-coaxially-actuated internally-separately-actuated and hybrid-actuated structure. The structures are analyzed compared, their implementation design examples given. Experiments comparing with...

Goal: The development of a control system for an electromyographic shoulder disarticulation (EMG-SD) prosthesis to rapidly achieve task with reduction in the operational failure user. Methods: motion planning EMG-SD was automated using measured visual information through mixed reality device. detection object be grasped and execution depended on EMG user, which gives voluntary controllability makes semi-automated. Two evaluation experiments reaching reach-to-grasp movements were conducted...

In recent years, myoelectric hands have become multi-degree-of-freedom (DOF) devices, which are controlled via machine learning methods. However, currently, data for gathered manually and thus tend to be of low quality. Moreover, in the case infants, gathering accurate is nearly impossible because difficulty communicating with them. Therefore, a method that automatically corrects errors necessary. Myoelectric wearable robots volumetric weight constraints make it infeasible store large...

In this study, a one-degree-of-freedom myoelectric prosthesis system was proposed using Parent Wireless Assistive Interface (PWAI) that allowed an external assistant (e. g., the parent of user) to immediately adjust parameters prosthetic hand controller. PWAI, potential use upper limb plotted on terminal in real time. Simultaneously, adjusted control device and manually manipulated hand. With these functions, children have difficulty verbally communicating could obtain properly hands....

The lack of caregivers in an aged society with low birth rate has become a serious social problem. independent living ability elderly people are expected, and walking is necessary to live life. We developing assistive robot that can be adapted the user's condition. This study uses proximity sensors, which were attached front support robot, measure user gait analysis control according gait. Gait was performed based on relative distance leg inner robot. Various experiments conducted difference...

In the design of prosthetic hand fingers, achieving human-like movement while meeting anthropomorphic demands such as appearance, size, and lightweight is quite challenging. Human finger involves two distinct motion characters during natural reach-and-grasp tasks: consistency in reaching stage adaptability grasping stage. The former one enhances grasp stability reduces control complexity; latter promotes to various objects. However, conventional tendon-driven designs typically incorporate...

SEMG (surface electromyography) measurement is a critical part to interface human body and mechatronic prosthetics. Conductive silicon based sEMG sensor proposed in this study for the disabled control prosthetic limbs daily life. The electrodes with conductive transduce electrical signal are sewed on an elastic band guarantee closely contact skin thus enable stable measurement. highly customizable fit size shape of stump so that can wear by themselves. Two kinds structure, one only surface...

This paper presents a lightweight (<;250 g) and low-cost (<;350 USD) biomimetic prosthetic hand with two actuators embedded in the palm. One of them is employed for flexion/extension five digits, other one used adduction/abduction thumb. Thus, can achieve major grasping tasks that account about 85% activities daily life. The unique transmission provides various advantages such as compact structure, weight saving, short driven distance. Furthermore, by using 3D printing technology, most parts...

We developed an intuitively operational shoulder disarticulation prosthesis system that can be used without long-term training. The consisted of four degrees freedom joints, as well a user adapting control based on machine learning technique and surface electromyogram (EMG) the trunk. measured EMG trunk healthy subjects at multiple points analyzed through principal component analysis to identify proper measurement portion trunk, which was determined distributed in chest back. Additionally,...

This study proposed a 3-motor 3-degree-of-freedom (3M3D) coupled tendon-driven humanoid waist, which has motion characteristics similar to the human. Based on variability of balancing moment requirements due differences in range (ROM) each degree freedom (DOF) we designed suitable motor-joint routing form for waist. Accordingly, structural design waist was conducted. Performance evaluation experiments were conducted, and results maximum static torque experiment showed that values 22.2 [Nm],...

Biological signals classification is essential for human machine interaction. Although previous research has achieved high performance, compensating domain shift due to the intra and inter individual variations remains a challenge. In this paper, we propose novel dynamic label smoothing strategy, named DLS, address issue. The proposed DLS constructs an auxiliary neural network adjust true supervise primary network. Experiments on NinaPro DB1 dataset demonstrate that outperforms current...

This paper proposes a method for designing socket and motorized hand as part of myoelectric prosthetic (EMG hand) partial amputees with fingers remaining on the amputation stump. The proposed design can adapt to individual stumps finger functions. incorporates affected angular distance parameters into kinematic model, designs sockets by shelling 3D solid model from expanded amputation. were integrated using CAD output was provided printer. We designed customized EMG hands two subjects...

Anthropomorphic robotic arms have attracted more and attention since it is human-friendly with the same size movement characteristics like a human arm. A new 7-DoF (Degrees of Freedom) anthropomorphic arm proposed in this paper. To achieve high torques while keeping down weight, all motors are coupled wires. The shoulder joint 3-motor 3-DoF driving structure, elbow wrist 2-motor 2-DoF structures. structures were designed considering safety durability problems caused by developed weighed 2.2...

This paper reports the development of a new electromyography (EMG) sensor for myoelectric prosthetic hand. The hand is controlled by EMG which detected from surface human skin. Our study focuses on dry type with flexible adhesion material to fit skin instead metal electrodes. developed electrode consisted silicone and conductive blended carbon black. These electrodes were mounted hands that applied perform Pick Place Tasks test total performance control system. results showed obtained...