An artificial finger robot motion control based on finger joint angle estimation from EMG signals for a robot prosthetic hand system

摘要

As a first step of developing a robot prosthetic hand based on biosignal, an artificial finger robot has been designed and developed for patients with a cut-off finger. This finger robot has 2 DOF and each of joints is worked with motors and wires. The joints can control their angles by a PID control method. Using this robot and applying our proposed finger joint angle estimation method based on measured surface electromyography (EMG) signals, we carried out experiments that synchronize the robot with the subject's third finger motion. As a result, it was confirmed that our system is technically feasible for application to a real prosthetic hand system.