Journal
Scientific and technical journal «Priborostroenie»
UDK681.51
Issue:4 (56)
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MULTIFUNCTIONAL ACTIVE ARTIFICIAL ARM
Annotation
Principle of operation, construction, and control system of active hand prosthesis with 7 DOF are described. Requirements for these devices are always ambivalent. For example, number of control signals decreases with increasing of amputation’s degree. But at the same time operator needs to increase number of active joints. An algorithm for control over the device based on application of EEG control signals, force sensitive sensors, and accelerometer is developed. The control system makes it possible to increase the number of active DOF, improve the system accuracy, and compensate external disturbances and reactive torque caused by the prosthesis movement.
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