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Figure 1 | Journal of NeuroEngineering and Rehabilitation

Figure 1

From: Electromyogram synergy control of a dexterous artificial hand to unscrew and screw objects

Figure 1

Methods overview. (a) A synergy was developed from the recorded human joint motions of ten test subjects while unscrewing and screwing a bottle cap. These motions were approximated by a family of sinusoids which share a common frequency of oscillation. (b) The EMG signals of 15 test subjects were mapped to the control input E M used to drive the synergy controller. Two EMG mapping methods were considered: Rhythmic and Threshold. The performances of these EMG mapping methods were compared to a traditional control scheme and system. (c) The synergy controller was implemented on the C6M Dexterous Shadow Hand through a sliding mode controller using joint angle and tendon force feedback. (d) The synergy controller was evaluated by 10 able-bodied (1-10) and five limb absent test subjects (A1-A5). The performance of the proposed technique was compared to eight different prosthetic hands in total. (e) An able-bodied test subject performing the unscrewing task with the Motion Control Hand (MC) under sliding mode control. (f) An able-bodied test subject performing the unscrewing task with the i-Limb Ultra Hand (ILU) under open loop control. (g) Test subject A1 with his SensorHand Speed (SHS). (h) Test subject A2 with one of her MyoHand VariPlus Speeds (VPS). (i) Test subject A3 with his MyoHand VariPlus Speed. (j) Test subject A4 performed the rotational task with his Motion Control ETD Hook (ETD), (k) i-Limb (IL), and (l) body-powered Grip Prehensor (BP).

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