Compliant Grasp Control Method for the Underactuated Prosthetic Hand Based on the Estimation of Grasping Force and Muscle Stiffness with sEMG

Human muscles can generate force and stiffness during contraction. When in contact with objects, human hands can achieve compliant grasping by adjusting the grasping force and the muscle stiffness based on the object’s characteristics. To realize humanoid-compliant grasping, most prosthetic hands ob...

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Bibliographic Details

Published in:	Biomimetics
Main Authors:	Xiaolei Xu, Hua Deng, Yi Zhang, Nianen Yi
Format:	Article
Language:	English
Published:	MDPI AG 2024-10-01
Subjects:	prosthetic hand grasping stiffness surface electromyographic fuzzy logic compliant grasp
Online Access:	https://www.mdpi.com/2313-7673/9/11/658