Abstract
The goal of this study is to develop a robot prosthetic hand system for amputees that estimate his/her desired finger angle from biosignals such as electromyography (EMG) signals or nerve signals and operate with the same motion as user's intention. Thus we have already proposed a finger joint angle estimation method using a histogram of surface EMG signals and a linear model. However, this method has a problem that the estimated angle is oscillated when a subject keeps his/her finger flexion. To solve this problem, we propose a new method to avoid estimator oscillation using time variation of histogram of flexor muscle. Moreover, a 2-DOF artificial finger robot has been designed and developed for patients who have his/her finger cut off. Using this robot and applying our proposed finger joint angle estimation method, we carried out the experiments that synchronize the robot with the subject's 3rd finger motion.
