| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 88 === This research integrates an EMG discriminator and a multi-fingered robot hand into a prosthetic system. The DSP-based EMG discriminator is used to discriminate the eight hand motions, which are power grasp, hook grasp, wrist flexion, lateral pinch, flattened hand, centralized grip, three-jaw chuck and cylindrical grasp. After the prehensile posture is obtained, the multi-fingered robot hand is controlled to perform the grasp.
A PC-based hand control card is developed to control the multi-fingered robot hand (NTU-Hand III). An OpenGL 3D graphic user interface is also developed to control and monitor the status of NTU-Hand III. Finally, the master/slave structure and the spring force model are applied to improve the manipulability of the prosthetic hand. Simulations and experiments are performed to justify the integrated prosthetic system.
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