Figure 6
From: Cognitive vision system for control of dexterous prosthetic hands: Experimental evaluation
Finite state machine for the control of the artificial hand. The control is realized as an integration of the cognitive vision system (CVS) with myoelectric control. The two channels of electromyography (EMG) recorded from finger extensors (Ext EMG) and flexors (Flex EMG) drive the system through the states by providing a two-bit binary code (in brackets); the first bit signals the activity of the flexors and the second is for the extensors, while X means "don't care." The user aims the system toward a target object and triggers the hand opening. The CVS estimates the grasp type and size. The user reaches for the object, commands the hand to close, manipulates the object and finally commands the hand to open and release the object. Notations: rounded rectangles - states; full black circle - entry state; arrows - state transitions with events.