YANG Bin1, HUANG Peng\|cheng2, YANG Qing\|hua1, BAO Guan\|jun1,

WANG Zhi\|heng1, GAO Feng1

(1. Key Laboratory of E&M, Ministry of Education & Zhejiang Province, Zhejiang University of Technology,

Hangzhou 310014, China; 2. Jinhua Polytechnic, Jinhua 321000, China)

 

 

Abstract: Aiming at the problem that the traditional industrial/agricultural robots had limitations in actuator structure, the concept made a difference from the traditional plans with rigid structure as its core, dexterous hand was designed with flexible pneumatic actuator(FPA) as its core component based on the former research foundation and joint motion characteristics of human hand. Because of traditional mechanical hand was too simplistic and inflexible, the myoelectric (EMG)control strategy was proposed to mimic a human’s hand. The experimental results indicate that accuracy of control system is 98% and feasibility of control system is verified in position controlling experiment of joint.

Key words: dexterous hand; structural design; electro myograph signal(EMG); myoelectric control; control algorithm; flexible pneumatic actuator(FPA)