Multifunctional Electrical Prosthetic Hand -Development of Tendon-driven Mechanism and Controller
Wenwei Yu*, Daisuke Nishikawa**, Yasuhiro Ishikawa***, Hiroshi Yokoi* and Yukinori Kakazu*
*Graduate school of engineering, Hokkaido University, Kita-13 Nishi-8, Kita-ku, Sapporo, 060-8628 Japan
**NS Solutions Corporation, 20-15, Shinkawa 2-chome, Chuo-ku, Tokyo
***Toyama Motor Corporation, Toyota Machi 530, Toyota City, Aichi Province, 471-0826 Japan
The purpose of this research was to develop a tendondriven electrical prosthetic hand, which is characterized by its mechanical torque-velocity converter and a mechanism that can assist proximal joint torque by distal actuators. To cope with time-delay and nonlinear properties of the prosthetic hand, a controller based on a Jordan network, recurrent neural network models, is proposed. The results of experiments on the stability of the controller are confirmed when tracking static wire tensions. Finally, the next prototype of prosthetic hand based on these methods is introduced.
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