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 han...

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Bibliographic Details
Published in:Biomimetics (Basel, Switzerland) Switzerland), 2024-10, Vol.9 (11), p.658
Main Authors: Xu, Xiaolei, Deng, Hua, Zhang, Yi, Yi, Nianen
Format: Article
Language:English
Subjects:
Analysis
Compliance
compliant grasp
Controllers
Electromyography
Fuzzy logic
Grasping
grasping stiffness
Hand
Hands
Implants, Artificial
Machine learning
Methods
Muscle contraction
Prostheses
Prosthesis
prosthetic hand
surface electromyographic
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Summary: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 obtain the stiffness parameter of the compliant controller according to the environmental stiffness, which may be inconsistent with the amputee's intention. To address this issue, this paper proposes a compliant grasp control method for an underactuated prosthetic hand that can directly obtain the control signals for compliant grasping from surface electromyography (sEMG) signals. First, an estimation method of the grasping force is established based on the Huxley muscle model. Then, muscle stiffness is estimated based on the muscle contraction principle. Subsequently, a relationship between the muscle stiffness of the human hand and the stiffness parameters of the prosthetic hand controller is established based on fuzzy logic to realize compliant grasp control for the underactuated prosthetic hand. Experimental results indicate that the prosthetic hand can adjust the desired force and stiffness parameters of the impedance controller based on sEMG, achieving a quick and stable grasp as well as a slow and gentle grasp on different objects.
ISSN:2313-7673
2313-7673
DOI:10.3390/biomimetics9110658