A fiber-reinforced human-like soft robotic manipulator based on sEMG force estimation. (November 2019)

• Record Type: Journal Article
• Authors: Feng, Naishi; Wang, Hong; Hu, Fo; Gouda, Mohamed Amin; Gong, Jiale; Wang, Feng
• Is Part Of: Engineering applications of artificial intelligence. Volume 86(2019)
• Page Start: 56
• Page End: 67
• Publication Date: 2019-11
• Subjects: Humanoid soft hand -- sEMG -- Force recognition -- Fiber reinforced -- Three-cavity structure; Engineering -- Data processing -- Periodicals; Artificial intelligence -- Periodicals; Expert systems (Computer science) -- Periodicals; Ingénierie -- Informatique -- Périodiques; Intelligence artificielle -- Périodiques; Systèmes experts (Informatique) -- Périodiques; Artificial intelligence; Engineering -- Data processing; Expert systems (Computer science); Periodicals; 620.00285
• DOI: 10.1016/j.engappai.2019.08.016
• Languages: English
• ISSNs: 0952-1976

Abstract

Abstract: Before the myoelectric prosthesis become a good substitute of a natural arm, there still exist several big challenges in terms of hand structural design and control algorithms. The overall objective of this paper is to propose a new humanoid hand with specify force output under sEMG control. A fiber reinforced three-cavity structure is proposed with thumb and middle finger bendable and the rest of the fingers bendable and twistable simultaneously to imitate the finger-to-finger function. The relation between the input pressure and twist angle is derived based on the material mechanics formula and the neo-Hookean model. The force module of the soft hand and sEMG are built achieving the accuracy of 94.2%. The experimental result has supported that the developed soft hand can be applied to artificial limb improving the quality of amputee's life.