Control philosophy and simulation of a robotic hand as a model for prosthetic hands
نویسندگان
چکیده
Multifingered robotic hands are attempts to approximate human hand characteristics and functionality, and it is reasonable to consider their possible adaptation and use in prosthetics and rehabilitation. The Belgrade/USC robot hand is used as a prototype prosthetic hand in order to evaluate a system that translates task-level commands into motor commands. Our system, PRESHAPE, uses the virtual finger concept for generating the free and guarded motions that occur during the phases of hand movements in prehensile and non-prehensile tasks. This paper describes the control philosophy of PRESHAPE and presents simulation results for various tasks.
منابع مشابه
Philosophy for a Simulated Prosthetic Hand
Multifingered robot hands can approximate human hand functionality, and it is possible to consider their use in prosthetics. The Belgrade/USC robot hand is used as a prototype prosthetic hand in order to evaluate a system, PRESHAPE, that translates user commands into motor signals using the virtual finger concept. This paper describes the control philosophy of PRESHAPE and presents simulation r...
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