Abstract
An innovative master-slave system implementing force feedback and motion tracking for an electrical powered prosthetic hand without external power supply is presented. The system consists of two different motors with a wired connection, and the two motors are located at the master and slave manipulator sites respectively. The slave motor which drives a prosthetic hand of a person tracks the motion of the master motor directly driven by the elbow of the opposite arm. As well, the interaction force produced at the slave site is fed back to the person. The force sensing and motion tacking are achieved simultaneously with neither force sensors nor sophisticated control algorithms. The system is characterized by simple structure, bidirectional controllability, energy recycling, and force feedback without a force sensor. By using smaller actuator coefficient of the slave motor than that of the master motor, we have tried to develop a new control system of an electrical powered prosthetic hand without external power supply. Theoretical back ground of the control method of energy-recycling without external power supply for the proposed system was demonstrated.
