Myoelectric teleoperation of a complex robotic hand

摘要

An unusual method of teleoperation of complex anthromorphic robotic hands, i.e., converting the myoelectric signal generated by the operator's muscles during movement into robot commands replicating the motion is discussed. The feasibility of using this approach for commanding more than one degree-of-freedom (DOF), as exemplified by the pincher type grip in current myoelectric hands, is still in question. The feasibility study described addresses myoelectric control of NASA/Johnson Space Center's 16-DOF Utah/MIT Dextrous Hand for several grasping options. Myoelectric signal processing approaches, data collection apparatus, and preliminary data for key and chuck grasps are discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>