Design of an Anthropomorphic Prosthetic Hand with EMG Control

摘要

This paper presents an anthropomorphic prosthetic hand with elastic joints. Helical springs are used as elastic joints and the joints of each finger are coupled by tendons. Although each finger has only one degree of freedom, the prosthetic hand is able to complete the basic actions of hand, such as gripping, pinching, and so on. The overall structure design of prosthetic hand and arrangement of driving motors are completed basing on the motion law and actual requirements of hand. Also, the overall control system for the EMG prosthetic hand has been built, which can control the prosthetic hand to carry objects with EMG signal.