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COBEM 2017
24th ABCM International Congress of Mechanical Engineering
ROBOTIC HAND CONTROLLED BY ELECTROMYOGRAPHIC SIGNALS
Submission Author:
Pedro Skrdlik , RJ
Co-Authors:
Pedro Skrdlik, Rafael da Silva Figueiredo, Cristiano Carvalho, Fabrício Lopes e Silva, Luciano Santos Constantin Raptopoulos, Waltencir Andrade
Presenter: Rafael da Silva Figueiredo
doi://10.26678/ABCM.COBEM2017.COB17-2419
Abstract
In the current work an approach to the development of a prototype robotic hand controlled by myoelectric signals is presented. A threedimensional model of the prototype was created with the aid of additive manufacturing technology. After that, the and inverse kinematics and the dynamics of a human hand were modeled to achieve fully comprehension of the movements, permitting its analysis and adjustments in the model. The control system is based on artificial neural networks (ANNs). The reference to the control system is a set of electromyographic (EMG) signals, measured from the skin during the muscle contractions.
Keywords
hand kinematics, Control System, artificial neural network, electromyographic signals
