This paper describes the research results on the development of the new design, software and hardware solutions for the creation of multifunctional robotic prosthesis of human upper limbs with different degrees of amputation using myoelectric intelligent control of the gripping and joint movement. Approaches to the implementation of servo actuators in modern bionic prostheses have been considered, the kinematics of prostheses and methods of control as well as the interaction of the patient with the prosthesis have been analyzed. Our approach has enabled the introduction of a servo actuator with a cycloid reducer into the finger structure, which has made it possible to achieve a 2-fold increase in grasp force (see Table 2) in comparison with the solutions available on the market. It can be used in the development of both prosthetic arms and anthropomorphic manipulators as well as individual functional units of robots. The design flexibility of the prosthesis allows for the use of separate fingers in the manufacture of prosthetic parts of the hand, which is provided by the in-built micro servo actuator. Also, the research of the transmission method of an object pressing force feedback that will simplify the interaction of the user with the prosthesis in the performance of a fast sequence of operations on objects has been carried out. The results show that the impact of the stereo effect analogue on the patient's skin with the help of two vibrating motors is intuitive, and the phase and amplitude (intensity) control is proportional to the created force on contact surfaces of prosthetic fingers. Within the follow-up work to reveal the multi-grip prosthesis functionality, the development of the recognition system for muscular activity patterns is being carried out with the use of the developed active digital electrodes for myogram registration.
Volume 11 | 08-Special Issue
Pages: 2229-2237