Skip to main content
SpringerLink
Log in

Control of a Multi-joint Hand Prosthesis—An Experimental Approach

  • Conference paper
  • First Online:
Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 403))

Abstract

This paper presents the concept of kinematic control of prosthetic hand with 13 d.o.f., while grasping objects of different shapes and sizes. The concept refers to the process of healthy hand motion control performed by the human nervous system. Planning of grip is based on kinematic model of the hand. The parameters of subsequent phases of the gripping process were determined experimentally from the measurements carried out with a laboratory model of hand. It was assumed that the final arrangement of fingers on the workpiece is determined on the basis of information from the touch sensor system.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Denavit, J., Hartenberg, R.S.: A kinematic notation for lower-pair mechanisms based on matrices. Trans. ASME J. Appl. Mech. 22, 215–221 (1955)

    MathSciNet  MATH  Google Scholar 

  2. Iberall, A.: A neural model of human prehension. Technical report, University of Massachusetts (1987)

    Google Scholar 

  3. Kurzynski, M., Wolczowski, A.: Control system of bioprosthetic hand based on advanced analysis of biosignals and feedback from the prosthesis sensors. In: Pietka, E., Kawa, J. (eds.) Information Technologies in Biomedicine. LNCS, vol. 7339, pp. 199–208. Springer, Berlin (2012)

    Google Scholar 

  4. Sciavicco, L., Siciliano, B.: Modelling and Control of Robot Manipulators. The McGraw-Hill, New York (1996)

    MATH  Google Scholar 

  5. Taylor, C., Schwarz, R.: The anatomy and mechanics of the human hand. Artif. Limbs 2, 22–35 (1955)

    Google Scholar 

  6. Wołczowski, A.: Smart hand: the concept of sensor based control. In: Proceedings of MMAR. pp. 783–790. Miedzyzdroje (2001)

    Google Scholar 

  7. Wolczowski, A., Kurzynski, M.: Human-machine interface in bioprosthesis control using EMG signal classification. Expert Syst. 27(1), 53–70 (2010)

    Article  Google Scholar 

  8. Wolczowski, A., Kurzynski, M., Zaplotny, P.: Concept of a system for training of bioprosthetic hand control in one side handless humans using virtual reality and visual and sensory biofeedback. J. Med. Inform. Technol. 18, 85–91 (2011)

    Google Scholar 

Download references

Acknowledgments

The work of the first author was supported by National Science Center resources in 2012–2014 years as a research project No. ST6/06168. The work of the second author was supported by statutory grant No. S40142. Computational resources were provided by PL-Grid Infrastructure.

Author information

Authors and Affiliations

  1. Faculty of Electronics Chair of Cybernetics and Robotics, Wrocław University of Technology, Wrocław, Poland

    Andrzej Wołczowski & Janusz Jakubiak

Authors
  1. Andrzej Wołczowski
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Janusz Jakubiak
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Andrzej Wołczowski .

Editor information

Editors and Affiliations

  1. Department of Systems, Wrocław University of Technology, Wroclaw, Poland

    Robert Burduk

  2. Department of Systems and Computer, Wrocław University of Technology, Wroclaw, Poland

    Konrad Jackowski

  3. Department of Systems and Computer, Wrocław University of Technology, Wroclaw, Poland

    Marek Kurzyński

  4. Dept. of Systems and Computer Networks, Wrocław University of Technology, Wroclaw, Poland

    Michał Woźniak

  5. Department of Systems, Wrocław University of Technology, Wroclaw, Poland

    Andrzej Żołnierek

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this paper

Cite this paper

Wołczowski, A., Jakubiak, J. (2016). Control of a Multi-joint Hand Prosthesis—An Experimental Approach. In: Burduk, R., Jackowski, K., Kurzyński, M., Woźniak, M., Żołnierek, A. (eds) Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015. Advances in Intelligent Systems and Computing, vol 403. Springer, Cham. https://doi.org/10.1007/978-3-319-26227-7_52

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-26227-7_52

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-26225-3

  • Online ISBN: 978-3-319-26227-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation