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1. Abstract. This paper focuses on a comprehensive description of the artificial hand and its driving mechanisms. Static and dynamic parameters of the model are detailed. The kinematics of the hand and its application in visual control are presented. Each joint of the designed hand is driven by a pair of McKibben muscles. Due to their parameters – high overloading and stiffness control capabilities, they are very suitable for environment interaction. The chosen actuators - pneumatic muscles, are also a simplified substitute for human muscles. Modeling the work of the human hand can in this case be conducted in a limited range. On the other hand, these limitations simplify the vision analysis, which was adequately considered in the algorithms of image processing. When designing the software, it was attempted to use only that information, which is necessary to accomplish a given task and the interaction of the hand with the steered object. A cue acquired from a biosignal measuring system is the main signal initiating the gripping phase. All miopotentials are recorded by an active surface electrode. The paper presents the problems of artifacts in the measured signal and solutions which allow for reducing their level. It also shows a schematic of laboratory stand, which is used for electromiografy recording and controlling the finger banding process of the artificial hand. The paper ends with collected conclusions from the research projects conducted by our team and the future plans concerning improved replication of human movements and using a stereoscopic view in vision control. |
