Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Motion and Force Estimation System of Human Fingers

손가락 동작과 힘 추정 시스템

  • 이동철 (대우조선해양 중앙연구소 로봇R&D) ;
  • 최영진 (한양대학교 ERICA캠퍼스 전자시스템공학)
  • Received : 2011.07.04
  • Accepted : 2011.08.01
  • Published : 2011.10.01
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Abstract

This presents a motion and force estimation system of human fingers by using an Electromyography (EMG) sensor module and a data glove system to be proposed in this paper. Both EMG sensor module and data glove system are developed in such a way to minimize the number of hardware filters in acquiring the signals as well as to reduce their sizes for the wearable. Since the onset of EMG precedes the onset of actual finger movement by dozens to hundreds milliseconds, we show that it is possible to predict the pattern of finger movement before actual movement by using the suggested system. Also, we are to suggest how to estimate the grasping force of hand based on the relationship between RMS taken EMG signal and the applied load. Finally we show the effectiveness of the suggested estimation system through several experiments.

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References

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