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Journal of NeuroEngineering and Rehabilitation

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Open Access 01-12-2010 | Research

Principal components analysis based control of a multi-dof underactuated prosthetic hand

Authors: Giulia C Matrone, Christian Cipriani, Emanuele L Secco, Giovanni Magenes, Maria Chiara Carrozza

Published in: Journal of NeuroEngineering and Rehabilitation | Issue 1/2010

Abstract

Background

Functionality, controllability and cosmetics are the key issues to be addressed in order to accomplish a successful functional substitution of the human hand by means of a prosthesis. Not only the prosthesis should duplicate the human hand in shape, functionality, sensorization, perception and sense of body-belonging, but it should also be controlled as the natural one, in the most intuitive and undemanding way. At present, prosthetic hands are controlled by means of non-invasive interfaces based on electromyography (EMG). Driving a multi degrees of freedom (DoF) hand for achieving hand dexterity implies to selectively modulate many different EMG signals in order to make each joint move independently, and this could require significant cognitive effort to the user.

Methods

A Principal Components Analysis (PCA) based algorithm is used to drive a 16 DoFs underactuated prosthetic hand prototype (called CyberHand) with a two dimensional control input, in order to perform the three prehensile forms mostly used in Activities of Daily Living (ADLs). Such Principal Components set has been derived directly from the artificial hand by collecting its sensory data while performing 50 different grasps, and subsequently used for control.

Results

Trials have shown that two independent input signals can be successfully used to control the posture of a real robotic hand and that correct grasps (in terms of involved fingers, stability and posture) may be achieved.

Conclusions

This work demonstrates the effectiveness of a bio-inspired system successfully conjugating the advantages of an underactuated, anthropomorphic hand with a PCA-based control strategy, and opens up promising possibilities for the development of an intuitively controllable hand prosthesis.

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Title: Principal components analysis based control of a multi-dof underactuated prosthetic hand
Authors: Giulia C Matrone
Christian Cipriani
Emanuele L Secco
Giovanni Magenes
Maria Chiara Carrozza
Publication date: 01-12-2010
Publisher: BioMed Central
Published in: Journal of NeuroEngineering and Rehabilitation / Issue 1/2010
Electronic ISSN: 1743-0003
DOI: https://doi.org/10.1186/1743-0003-7-16

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Principal components analysis based control of a multi-dof underactuated prosthetic hand

Abstract

Background

Methods

Results

Conclusions

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Abstract

Background

Methods

Results

Conclusions

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