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A Wearable Interface for Tendon-driven Robotic Hand Prosthesis
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건구동식 로봇 의수용 착용형 인터페이스

논문 기본 정보

Type
Academic journal
Author
Sungyoon Jung (동의대학교) Chanyoung Park (동의대학교) Juhawn Bae (동의대학교) Inhyuk Moon (동의대학교)
Journal
Institute of Control, Robotics and Systems Journal of Institute of Control, Robotics and Systems Vol.16 No.4 KCI Accredited Journals SCOPUS
Published
2010.4
Pages
374 - 380 (7page)

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A Wearable Interface for Tendon-driven Robotic Hand Prosthesis
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Abstract· Keywords

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This paper proposes a wearable interface for a tendon-driven robotic hand prosthesis. The proposed interface is composed of a dataglove to measure finger and wrist joint angle, and a micro-control board with a wireless RF module. The interface is used for posture control of the robotic hand prosthesis. The measured joint angles by the dataglove are transferred to the main controller via the wireless module. The controller works for directly controlling the joint angle of the hand or for recognizing hand postures using a pattern recognition method such as LDA and k-NN. The recognized hand postures in this study are the paper, the rock, the scissors, the precision grasp, and the tip grasp. In experiments, we show the performances of the wearable interface including the pattern recognition method.
#robotic hand prosthesis #wearable interface #dataglove #pattern recognition #hand motions

Contents

Abstract
Ⅰ. 서론
Ⅱ. 다자유도 건구동식 로봇 의수
Ⅲ. 데이터글로브의 개발
Ⅳ. 실험 및 결과
Ⅴ. 결론
참고문헌

References (19)

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1. [학술지(정기간행물)] - M. Carrozza / 2005 / On the development of a novel adaptive prosthetic hand with compliant joints:experimental platform and EMG control / Proc. of the IEEE/RSJ International Conference on Intelligent Robotics and System : 123 ~ 145 google schola 2. [학술지(정기간행물)] - M. Carrozza / 2006 / Design of a cybernetic hand for perception and action / Biological Cybernetics 95 (6) : 629 ~ 644 google schola 3. [인터넷자원] - / / http://www.touchbionics.com google schola 4. [학술지(정기간행물)] - C. Lovchik / 1999 / The robonaut hand: a dexterous robot hand for space / Proc. of IEEE International Conference on Robotics and Automation : 907 ~ 912 google schola 5. [단행본] - Shadow Robot Company / 2003 / Design of a dexterous hand for advanced CLAWAR application / Shadow Robot Company google schola

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