The usability of a prosthetic hand difers significantly from that of a real ***,the complexity of manipulation increases as the number of degrees of freedom to be controlled increases,making manipulation with biologic...
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The usability of a prosthetic hand difers significantly from that of a real ***,the complexity of manipulation increases as the number of degrees of freedom to be controlled increases,making manipulation with biological signals extremely *** overcome this problem,users need to select a grasping posture that is adaptive to the object and a stable grasping method that prevents the object from *** previous studies,these have been left to the operating skills of the user,which is extremely difficult to *** this study,we demonstrate how stable and adaptive grasping can be achieved according to the object regardless of the user's operation *** required grasping technique is achieved by determining the correlation bet ween the motor output and each sensor through the interaction between the prosthetic hand and the surrounding stimuli,such as myoelectricity,sense of touch,and grasping *** agents of the 16 DOF robot hand were trained with the myoelectric signals of six participants,including one child with a congenital forearm ***,each agent could open and close the hand in response to the myoeletric stimuli and could accomplish the object pickup *** the tasks,the agents successfully identified grasping patterns suitable for practical and stable positioning of the *** addition,the agents were able to pick up the object in a similar posture regardless of the partiipant,suggesting that the hand was optimized by evolutionary computation to a posture that prevents the object from being dropped.
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