Development of a Multi-Function Myoelectric Prosthetic Hand with Communicative Hand Gestures

http://dx.doi.org/10.5302/J.ICROS.2011.17.12.1248 ISSN:1976-5622 eISSN:2233-4335

I.

서론

Ottobock MyoHand, Utha ARM

(EMG) 3

.

100~150N ,

3

.

5

[1-12].

2007 TOUCH BIONIC I-Limb

5

shape-adaptation .

(EMG) 3

.

,

* (Corresponding Author)

: 2011. 7. 15., : 2011. 8. 6., : 2011. 10. 25.

, , , , :

([email protected]/[email protected]/[email protected]/shpark@

korec.re.kr/[email protected])

( : A110969) .

. 1

.

.

,

.

, 5

Development of a Multi-Function Myoelectric Prosthetic Hand with Communicative Hand Gestures

, , , ^* ,

(Yoon Heo¹, Bum Ki Hong¹, Eyong Pyo Hong¹, Se Hoon Park¹, and Mu Seong Moon¹)

1

Korea Orthopedics & Rehabilitation Engineering Center

Abstract: In daily life, another major role of human hand is a communicative function using hand gestures besides grasp

function. Therefore, if amputees can express their intention by the prosthetic hand, they can much actively participate in social activities. Thus, this paper propose myoelectric multi-function prosthetic hand which can express 6 useful hand gestures such as Rock, Scissors, Paper, Indexing, Ok and Thumb-up. It was designed as under-actuated structure to minimize volume and weight of the prosthetic hand. Moreover, in order to effectively control various hand gestures by only two EMG sensors, we propose a control strategy that the signal type are expanded as “Strong” and “Light”, and hand gestures are hierarchically classified for the intuitive control. Finally, we prove the validity of the developed prosthetic hand with the experiment.

Keywords: EMG (Electromyographic), prosthetic hand, differential mechanism, under-actuated mechanism

Copyright© ICROS 2011

1. .

Fig. 1. Hand gestures for emotion or intension expression.

. II ,

under-actuator III

. IV

2 EMG

,

. EMG strong light

2

.

.

의사표현 기능이 있는 전동의수

II.

body language

7-38-55 ( 7%, 38%,

55%) [15].

( , , ) 90%

.

. 2 ,

4 ( , , , ) 6

. ,

,

indexing, ok,

(thumb-up) 6 .

6

under-actuator .

, I-limb [1] bebionic hand [3]

, 4bar

.

10(5×2) 4

(linear actuator) .

(lateral-grasp)

[7].

1 .

기구부 설계

III.

손가락 구조 1.

Dechev TBM hand 6

,

[8].

. KOREC hand TBM hand

, 3 4

6

4 link .

,

.

2 .

인지 및 약지 모듈 구조 2.

,

. 5

(a) Rock (b) Scissors (c) Paper

(d) OK (e) Indexing (f) Thumb-up

2. 6 .

Fig. 2. 6 representative hand gestures.

3. .

Fig. 3. Proposed multi-function prosthetic hand.

1. .

Table 1. Prosthetic hand spec.

/ 200mm / 83mm

11 (5×2 active, 1 passive) Power, Precision, Lateral

6

Actuator Firgelli PQ12S, 9N max

[16]

.

6 . 6(b)

MCP

6(c)

. 6(d)

.

4. , .

Fig. 4. Index & middle finger module.

2. .

Table 2. The finger joint size and motion ranges.

(mm) / (deg)

45/(0~90°) 26/(0~80°) 20/10°

45/(0~90°) 32/(0~80°) 20/10°

45/(0~90°) 26/(0~80°) 20/10°

45/(0~90°) 15/(0~80°) 16/10°

53/30° 45/(0~90°) 36/(0~54°)

5. .

Fig. 5. Ring & little finger module.

6. .

Fig. 6. The differential mechanism with Pulley.

제어시스템

IV.

,

RISC Atmega128

. 7 EMG

2 ADC (Analog Digital Converters) , 4

DC ,

.

ADC EMG

PWM .

. 근전도 신호 분류

1. (EMG Signal Classification)

(a)

(b)

7. (a) , (b) .

Fig. 7. (a) The control system diagram, (b) The developed controller.

8. EMG .

Fig. 8. The position of EMG sensor attachment.

8 EMG (extensor digitorum) (flexor carpi ulnaris)

,

[1,2].

2 open close

.

,

EMG 3bit

language [13]

[14] .

EMG (visual feedback)

EMG

. EMG

, EMG

. , power grasp

strong EMG

, precision grasp

(hand gestures) light EMG

, .

, 9(a) , EMG

(e1)

level 70%

(tx) . 9(b) , EMG

(tx) t1 light EMG , t1

strong EMG .

strong EMG

light EMG 3 3

(extension, flexion, co-contraction) 5 .

제어전략

2. (Control Strategy) 2

3 6

, .

open close normal

,

. 상태

2.1 Normal

, ,

, .

normal .

normal

, ,

. 손동작의 계층적 분류 및 제어전략 2.2

.

, (rock) (paper)

(a) (b)

9. (a) EMG (b) EMG .

Fig. 9. (a) Measurement of EMG duration (b) Classification of EMG control command.

3. EMG .

Table 3. Classified EMG control commands.

Light Strong

Command Flexor Extn. Flexor Extn.

1 1 0 0 CC (Co-Contraction)

0 0 1 0 SF (Strong Flexion)

0 0 0 1 SE (Strong Extension)

1 0 0 0 LF (Light Extension)

0 1 0 0 LE (Light Flexion)

10. 3 6 .

Fig. 10. An hierarchical classification of 3 grasp functions and 6 hand gestures.

, indexing

. 3

6

, .

3 6

, 10

(strong motion) (light motion)

. strong

EMG light EMG

. , ok

strong motion light

motion .

normal (precision

grasp) open normal

. 11

12

(S1)

(S2) .

11

,

normal LF ,

LE (=normal)

.

(power grasp) ,

paper rock

light EMG , 10

. normal

CC

SE SF .

Lateral normal 10

normal

. lateral

opened (lateral grasp) thumb-up

, 4

(hook grasp) lateral normal

lateral opened .

lateral opened LE LF

(thumb-up) .

lateral normal

CC SE

normal .

제어전략의 성능 비교 3.

2 EMG

co-contraction [2] 3

6

. 13

(S1) (S2) .

11. Normal (S1).

Fig. 11. State diagram from the normal state (S1).

12. Lateral normal (S2).

Fig. 12. State diagram from the lateral normal state (S2).

(a)

(b)

13. S1(a) S2(b).

Fig. 13. Control strategy S1(a) and S2(b) by the mode change.

1 ,

, CC

. grasp 0

1 CC 0

3

CC .

4 .

13(a)-(j)

. precision open (a) (e)

, 3

, (j)

lateral

normal 4

. , 5

,

.

4 5 ,

187 263

.

5 , normal [=precision opened,(a)]

, S2

. normal

.

실험 및 결과

V.

14 .

2 EMG (Ottobock

13E200/60hz) , atmega128

7.4v lithium ion .

EMG 255 65

45 strong light EMG

300ms .

EMG 300ms

light EMG strong EMG

.

4.

Table 4. Number of commands in the mode change method.

end str.

S1 S2

(a) (b) (c) (d) (e) (f) (g) (h) (i) (j) sum

S1

(a) 0 1 2 2 3 3 4 3 3 4 25

(b) 1 0 2 2 3 3 4 3 3 4 25

(c) 4 4 0 1 2 2 3 3 3 4 26

(d) 4 4 1 0 2 2 3 3 3 4 26

(e) 3 3 4 4 0 1 2 3 3 4 27

(f) 3 3 4 4 1 0 2 3 3 4 27

(g) 2 2 3 3 4 4 0 3 3 4 28

S2

(h) 2 2 3 3 4 4 5 0 1 2 26

(i) 2 2 3 3 4 4 5 1 0 2 26

(j) 2 2 3 3 4 4 5 2 2 0 27

total 263

5.

Table 5. Number of commands in the proposed control strategy.

end str.

S1 S2

(a) (b) (c) (d) (e) (f) (g) (h) (i) (j) sum

S1

(a) 0 1 1 1 1 2 2 2 3 3 16

(b) 1 0 2 2 2 3 3 2 3 3 21

(c) 1 2 0 2 2 1 3 2 3 3 19

(d) 1 2 2 0 2 3 1 2 3 3 19

(e) 1 2 2 2 0 3 3 2 3 3 21

(f) 1 2 2 2 2 0 3 2 3 3 20

(g) 1 2 2 2 2 3 0 2 3 3 20

S2

(h) 1 2 2 2 2 3 3 0 1 1 17

(i) 1 2 2 2 2 3 3 1 0 1 17

(j) 1 2 2 2 2 3 3 1 1 0 17

total 187

14. .

Fig. 14. Components of experimental equipments.

(a) Sphere object. (b) Cylindrical object. (c) Small object.

(d) Business card. (e) Hook grasp.

15.

Fig. 15. Grasp experiments.

15

. ,

power, precision, lateral .

16 6

normal scissor, paper, ok, rock,

indexing thumb-up

. 17 EMG

.

VI.

결론 8

3 6

. 5

,

11 4

under-actuator .

EMG strong light

EMG

3 5 normal

3 6

. light strong EMG

300ms (signal delay)

.

.

.

.

. (a) Scissors. (b) Indexing. (c) OK.

(d) Rock. (e) Paper. (f) Thumb-up.

16. (KOREC hand) 6 .

Fig. 16. 6 hand gestures by the prosthetic hand (KOREC hand).

17. , Scissors(1), Paper(2), Rock(3), Ok(4), Indexing(5), Thumb-up(6).

Fig. 17. Hand gesture experiments, Scissors(1), Paper(2), Rock(3), Ok(4), Indexing(5), Thumb-up(6).

, .

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[2] http://www.ottobock.com.

[3] http://www.bebionic.com.

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Conf. on Robotics and Automation, Pasadena, California,

pp. 743-748, May 2008.

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2008.

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[7] C. M. Light and P. H. Chappell, “Development of a lightweight and adaptable multiple-axis hand prosthesis,”

Medical Engineering & Physics, vol. 22, pp. 679-684,

2000.

[8] N. Dechev, W. L. Cleghorn, and S. Naumann, “Multiple finger, passive adaptive grasp prosthetic hand,”

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[9] P. J. Kyberd O. E. Holland, P. H. Chappell, S. Smith, R. Tregidgo, R. J. Bagwell, and M. Snaith, “MARCUS:

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[10] B. J. Choi, S. H. Lee, S. C. Kang, and H. R. Choi,

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[11] D. H. Jeong, J. U. Chu, and Y. J. Lee, “Development of myoelectric hand with infrared LED-based tactile sensor,”

Journal of Institute of Control, Robotics and Systems (in Korean), vol. 15, no. 8, pp. 831-838, Aug. 2009.

[12] S. H. Park, B. K. Hong, J. K. Kim, E. P. Hong, and M.

S. Mun, “Development of the myoelectric hand with a 2DOF auto wrist module,” Journal

of Institute of Control, Robotics and Systems (in Korean), vol. 17, no.

8, pp. 824-832, Aug. 2011.

[13] J. L. Pons, R. Ceres, E. Rocon, S. Levin, I. Markovitz, B. Saro, D. Reynaerts, W. Van Moorleghem, and L.

Bueno, “Virtual reality training and EMG control of the

MANUS hand prosthesis,” Robotica, vol. 23, pp. 311- 317, 2005.

[14] C. Cipriani, F. Zaccone, S. Micera, and M. C. Carrozza,

“On the shared control of an EMG controlled prosthetic hand: analysis of user-prosthesis interaction,”

IEEE Transactions on Robotics, vol. 24, no. 1, pp. 170-184,

Feb. 2008.

[15] http://en.wikipedia.org/wiki/Albert_Mehrabian.

[16] D. T. Pham and W. B. Heginbotham, Robot Grippers:

International Trends in Manufacturing Technology, IFS

Ltd, UK, 1986.

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