Blackfingers: a Sophisticated Hand Prosthesis

Michele Folgheraiter, Giuseppina Gini, Marek Perkowski, and Mihail Pivtoraiko. Blackfingers: a Sophisticated Hand Prosthesis. In Proceedings of the International Conference on Rehabilitation Robotics, 2003.

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Abstract

Our goal is to develop the low level control system for an artificial hand "Blackfingers". Blackfingers was thought to have two main applications: as humanoid robot’s hand or as a human hand prothesis. In this last application our intent is to realize a device more sophisticated respect the actual commerce prothesis. Also in our intention is to use some biological paradigms to create a human like reflex control easy to be interfaced also with the human nervous system. In this paper we illustrate the properties and the morphology of a human like neural reflex controller, used to set the stiffness and joint positions of our artificial hand. In particular we explain, by simulations results, its ability to emulate the myotatic human reflex, and its capacity to learn in real time the best control strategy.

BibTeX

@INPROCEEDINGS{folgheraiter_etal_icorr03,
  author = {Michele Folgheraiter and Giuseppina Gini and Marek Perkowski and
	Mihail Pivtoraiko},
  title = {Blackfingers: a Sophisticated Hand Prosthesis},
  booktitle = {Proceedings of the International Conference on Rehabilitation Robotics},
  year = {2003},
  abstract = {Our goal is to develop the low level control system for
                  an artificial hand "Blackfingers". Blackfingers was
                  thought to have two main applications: as humanoid
                  robot’s hand or as a human hand prothesis. In this
                  last application our intent is to realize a device
                  more sophisticated respect the actual commerce
                  prothesis. Also in our intention is to use some
                  biological paradigms to create a human like reflex
                  control easy to be interfaced also with the human
                  nervous system.  In this paper we illustrate the
                  properties and the morphology of a human like neural
                  reflex controller, used to set the stiffness and
                  joint positions of our artificial hand.  In
                  particular we explain, by simulations results, its
                  ability to emulate the myotatic human reflex, and
                  its capacity to learn in real time the best control
                  strategy.},
  bib2html_pubtype = {Refereed Conference Papers},
  bib2html_rescat = {Other},
  owner = {mihail},
  timestamp = {2010.08.07}
}

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