Development of haptic prosthetic hand for realization of intuitive operation

Satoshi Fukushima, Takahiro Nozaki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes a haptic prosthetic hand to realize intuitive operation for upper limb amputees. In the conventional myoelectric prostheses, it was hardly unable to control the grasping force precisely or to grasp an unevenly shaped object flexibly. In this paper, development of haptic prosthetic hand is achieved, which realizes intuitive operation by the following two functions: first, is the transmission of force sensation to the master interface attached to the healthy part of the body, second, is an adaptation to the shape of an object with flexibleness. The developed haptic prosthetic hand has multi degrees of freedom (DOFs), and the master interface has a limited number of DOF. Therefore, to control the multi-DOFs haptic prosthetic hand by a simple operation of the master interface, different DOF bilateral control is implemented as a control method. Haptics is used to realize intuitive operation, and the proposed variable compliance control is used for environmental adaptation. These functions enable to replace the force sensation of the missing hand, by any remaining healthy part of the body. Experiments were conducted to evaluate the function of the developed haptic prosthetic hand.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages6403-6408
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - 2016 Dec 21
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 2016 Oct 242016 Oct 27

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period16/10/2416/10/27

Keywords

  • Bilateral control
  • Haptics
  • Prosthetic hand
  • Variable compliance control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Fukushima, S., Nozaki, T., & Ohnishi, K. (2016). Development of haptic prosthetic hand for realization of intuitive operation. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 6403-6408). [7793456] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7793456