Development of Design, Control System and Feedback System of Electromechanical Hand

This work is devoted to the development of mechatronic hand that can be used as prosthetic hand and as grasper for humanoid robot. The structure and kinematics of the construction, physical appearance, the principle of fingers flexion were inspired byhumanhand.In order to analyze flexing principle, direct kinematics task and force analysis had defined. This study has allowed define more precise information for construction design and creating more useful prosthetic hand. Defined force analysis has allowed calculate the length of the phalanges, generalized force tendon tension and to pick up by the motor.The assembly of the hand components makes it possible to install the device on the stump of the patient due to its compactness and light weight. Control system will have been based on EMG signals getting from mussels.For this moment prosthetic hand is controlled by the glove that was worn on the human hand. Besides a research devoted to sensors that we have to install to devices was conducted.