Control system for prosthetic hand based on DSP

ZHANG Ke-ke， XIONG Cai-hua， HE Lei， XIONG Da-zhu
（School of Mechanical Science and Engineering， Huazhong University of Science and Technology，
Wuhan 430074， China）

Abstract： Aiming at solving problems of the control system's complexity of prosthetic hands，the under-actuated technology was investigated in the mechanical design of the hand. The total hand was actuated by 3 motors，tendons and pulleys were chosen for the finger mechanisms. According to analysis of the principle and architecture of the mechanical system，methods of easy configuration，short time of development，and force feedback were established based on DSP. The function of driving the motion of the fingers was supported by the control system. The design of hardware and software of this system was given and the voltage changing and sensor processing circuit were mainly included in the hardware design. Two kinds，a sum of 11 sensors were equipped for automatic grasp control and sensory feedback. Event managers and analog-to-digital converters were applied in the software design. Force sensing resistor of the prosthetic hand was calibrated and the grasping ability was tested. The results indicate that control strategy based on the force feedback makes prosthetic hand fulfill stable envelope grasp.
Key words： prosthetic hand； control system； under-actuated technology； force sensing resistor； DSP