EMG control of a pneumatic 5-fingered hand using a Petri net
Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the contr...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Fukuda, Osamu [verfasserIn] |
|---|
| Format: |
Artikel |
|---|---|
| Sprache: |
Englisch |
| Erschienen: |
2011 |
|---|
| Anmerkung: |
© International Symposium on Artificial Life and Robotics (ISAROB). 2011 |
|---|
| Übergeordnetes Werk: |
Enthalten in: Artificial life and robotics - Springer Japan, 1997, 16(2011), 1 vom: Juni, Seite 90-93 |
|---|---|
| Übergeordnetes Werk: |
volume:16 ; year:2011 ; number:1 ; month:06 ; pages:90-93 |
| Links: |
|---|
| DOI / URN: |
10.1007/s10015-011-0894-z |
|---|
| Katalog-ID: |
OLC2051536104 |
|---|
| LEADER | 01000caa a22002652 4500 | ||
|---|---|---|---|
| 001 | OLC2051536104 | ||
| 003 | DE-627 | ||
| 005 | 20230502155330.0 | ||
| 007 | tu | ||
| 008 | 200819s2011 xx ||||| 00| ||eng c | ||
| 024 | 7 | |a 10.1007/s10015-011-0894-z |2 doi | |
| 035 | |a (DE-627)OLC2051536104 | ||
| 035 | |a (DE-He213)s10015-011-0894-z-p | ||
| 040 | |a DE-627 |b ger |c DE-627 |e rakwb | ||
| 041 | |a eng | ||
| 082 | 0 | 4 | |a 004 |q VZ |
| 100 | 1 | |a Fukuda, Osamu |e verfasserin |4 aut | |
| 245 | 1 | 0 | |a EMG control of a pneumatic 5-fingered hand using a Petri net |
| 264 | 1 | |c 2011 | |
| 336 | |a Text |b txt |2 rdacontent | ||
| 337 | |a ohne Hilfsmittel zu benutzen |b n |2 rdamedia | ||
| 338 | |a Band |b nc |2 rdacarrier | ||
| 500 | |a © International Symposium on Artificial Life and Robotics (ISAROB). 2011 | ||
| 520 | |a Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm. | ||
| 700 | 1 | |a Kim, Jonghwan |4 aut | |
| 700 | 1 | |a Nakai, Isao |4 aut | |
| 700 | 1 | |a Ichikawa, Yasunori |4 aut | |
| 773 | 0 | 8 | |i Enthalten in |t Artificial life and robotics |d Springer Japan, 1997 |g 16(2011), 1 vom: Juni, Seite 90-93 |w (DE-627)240152476 |w (DE-600)1413537-1 |w (DE-576)065025393 |x 1433-5298 |7 nnns |
| 773 | 1 | 8 | |g volume:16 |g year:2011 |g number:1 |g month:06 |g pages:90-93 |
| 856 | 4 | 1 | |u https://doi.org/10.1007/s10015-011-0894-z |z lizenzpflichtig |3 Volltext |
| 912 | |a GBV_USEFLAG_A | ||
| 912 | |a SYSFLAG_A | ||
| 912 | |a GBV_OLC | ||
| 912 | |a SSG-OLC-TEC | ||
| 912 | |a SSG-OLC-MAT | ||
| 912 | |a GBV_ILN_70 | ||
| 912 | |a GBV_ILN_2006 | ||
| 912 | |a GBV_ILN_4322 | ||
| 951 | |a AR | ||
| 952 | |d 16 |j 2011 |e 1 |c 06 |h 90-93 | ||
| author_variant |
o f of j k jk i n in y i yi |
|---|---|
| matchkey_str |
article:14335298:2011----::mcnrlfpemtcfneehnu |
| hierarchy_sort_str |
2011 |
| publishDate |
2011 |
| allfields |
10.1007/s10015-011-0894-z doi (DE-627)OLC2051536104 (DE-He213)s10015-011-0894-z-p DE-627 ger DE-627 rakwb eng 004 VZ Fukuda, Osamu verfasserin aut EMG control of a pneumatic 5-fingered hand using a Petri net 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © International Symposium on Artificial Life and Robotics (ISAROB). 2011 Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm. Kim, Jonghwan aut Nakai, Isao aut Ichikawa, Yasunori aut Enthalten in Artificial life and robotics Springer Japan, 1997 16(2011), 1 vom: Juni, Seite 90-93 (DE-627)240152476 (DE-600)1413537-1 (DE-576)065025393 1433-5298 nnns volume:16 year:2011 number:1 month:06 pages:90-93 https://doi.org/10.1007/s10015-011-0894-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_4322 AR 16 2011 1 06 90-93 |
| spelling |
10.1007/s10015-011-0894-z doi (DE-627)OLC2051536104 (DE-He213)s10015-011-0894-z-p DE-627 ger DE-627 rakwb eng 004 VZ Fukuda, Osamu verfasserin aut EMG control of a pneumatic 5-fingered hand using a Petri net 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © International Symposium on Artificial Life and Robotics (ISAROB). 2011 Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm. Kim, Jonghwan aut Nakai, Isao aut Ichikawa, Yasunori aut Enthalten in Artificial life and robotics Springer Japan, 1997 16(2011), 1 vom: Juni, Seite 90-93 (DE-627)240152476 (DE-600)1413537-1 (DE-576)065025393 1433-5298 nnns volume:16 year:2011 number:1 month:06 pages:90-93 https://doi.org/10.1007/s10015-011-0894-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_4322 AR 16 2011 1 06 90-93 |
| allfields_unstemmed |
10.1007/s10015-011-0894-z doi (DE-627)OLC2051536104 (DE-He213)s10015-011-0894-z-p DE-627 ger DE-627 rakwb eng 004 VZ Fukuda, Osamu verfasserin aut EMG control of a pneumatic 5-fingered hand using a Petri net 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © International Symposium on Artificial Life and Robotics (ISAROB). 2011 Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm. Kim, Jonghwan aut Nakai, Isao aut Ichikawa, Yasunori aut Enthalten in Artificial life and robotics Springer Japan, 1997 16(2011), 1 vom: Juni, Seite 90-93 (DE-627)240152476 (DE-600)1413537-1 (DE-576)065025393 1433-5298 nnns volume:16 year:2011 number:1 month:06 pages:90-93 https://doi.org/10.1007/s10015-011-0894-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_4322 AR 16 2011 1 06 90-93 |
| allfieldsGer |
10.1007/s10015-011-0894-z doi (DE-627)OLC2051536104 (DE-He213)s10015-011-0894-z-p DE-627 ger DE-627 rakwb eng 004 VZ Fukuda, Osamu verfasserin aut EMG control of a pneumatic 5-fingered hand using a Petri net 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © International Symposium on Artificial Life and Robotics (ISAROB). 2011 Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm. Kim, Jonghwan aut Nakai, Isao aut Ichikawa, Yasunori aut Enthalten in Artificial life and robotics Springer Japan, 1997 16(2011), 1 vom: Juni, Seite 90-93 (DE-627)240152476 (DE-600)1413537-1 (DE-576)065025393 1433-5298 nnns volume:16 year:2011 number:1 month:06 pages:90-93 https://doi.org/10.1007/s10015-011-0894-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_4322 AR 16 2011 1 06 90-93 |
| allfieldsSound |
10.1007/s10015-011-0894-z doi (DE-627)OLC2051536104 (DE-He213)s10015-011-0894-z-p DE-627 ger DE-627 rakwb eng 004 VZ Fukuda, Osamu verfasserin aut EMG control of a pneumatic 5-fingered hand using a Petri net 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © International Symposium on Artificial Life and Robotics (ISAROB). 2011 Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm. Kim, Jonghwan aut Nakai, Isao aut Ichikawa, Yasunori aut Enthalten in Artificial life and robotics Springer Japan, 1997 16(2011), 1 vom: Juni, Seite 90-93 (DE-627)240152476 (DE-600)1413537-1 (DE-576)065025393 1433-5298 nnns volume:16 year:2011 number:1 month:06 pages:90-93 https://doi.org/10.1007/s10015-011-0894-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_4322 AR 16 2011 1 06 90-93 |
| language |
English |
| source |
Enthalten in Artificial life and robotics 16(2011), 1 vom: Juni, Seite 90-93 volume:16 year:2011 number:1 month:06 pages:90-93 |
| sourceStr |
Enthalten in Artificial life and robotics 16(2011), 1 vom: Juni, Seite 90-93 volume:16 year:2011 number:1 month:06 pages:90-93 |
| format_phy_str_mv |
Article |
| institution |
findex.gbv.de |
| dewey-raw |
004 |
| isfreeaccess_bool |
false |
| container_title |
Artificial life and robotics |
| authorswithroles_txt_mv |
Fukuda, Osamu @@aut@@ Kim, Jonghwan @@aut@@ Nakai, Isao @@aut@@ Ichikawa, Yasunori @@aut@@ |
| publishDateDaySort_date |
2011-06-01T00:00:00Z |
| hierarchy_top_id |
240152476 |
| dewey-sort |
14 |
| id |
OLC2051536104 |
| language_de |
englisch |
| fullrecord |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">OLC2051536104</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230502155330.0</controlfield><controlfield tag="007">tu</controlfield><controlfield tag="008">200819s2011 xx ||||| 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s10015-011-0894-z</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)OLC2051536104</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-He213)s10015-011-0894-z-p</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">004</subfield><subfield code="q">VZ</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Fukuda, Osamu</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">EMG control of a pneumatic 5-fingered hand using a Petri net</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2011</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">ohne Hilfsmittel zu benutzen</subfield><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Band</subfield><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© International Symposium on Artificial Life and Robotics (ISAROB). 2011</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm.</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Kim, Jonghwan</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Nakai, Isao</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Ichikawa, Yasunori</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">Artificial life and robotics</subfield><subfield code="d">Springer Japan, 1997</subfield><subfield code="g">16(2011), 1 vom: Juni, Seite 90-93</subfield><subfield code="w">(DE-627)240152476</subfield><subfield code="w">(DE-600)1413537-1</subfield><subfield code="w">(DE-576)065025393</subfield><subfield code="x">1433-5298</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:16</subfield><subfield code="g">year:2011</subfield><subfield code="g">number:1</subfield><subfield code="g">month:06</subfield><subfield code="g">pages:90-93</subfield></datafield><datafield tag="856" ind1="4" ind2="1"><subfield code="u">https://doi.org/10.1007/s10015-011-0894-z</subfield><subfield code="z">lizenzpflichtig</subfield><subfield code="3">Volltext</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_OLC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SSG-OLC-TEC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SSG-OLC-MAT</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2006</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">16</subfield><subfield code="j">2011</subfield><subfield code="e">1</subfield><subfield code="c">06</subfield><subfield code="h">90-93</subfield></datafield></record></collection>
|
| author |
Fukuda, Osamu |
| spellingShingle |
Fukuda, Osamu ddc 004 EMG control of a pneumatic 5-fingered hand using a Petri net |
| authorStr |
Fukuda, Osamu |
| ppnlink_with_tag_str_mv |
@@773@@(DE-627)240152476 |
| format |
Article |
| dewey-ones |
004 - Data processing & computer science |
| delete_txt_mv |
keep |
| author_role |
aut aut aut aut |
| collection |
OLC |
| remote_str |
false |
| illustrated |
Not Illustrated |
| issn |
1433-5298 |
| topic_title |
004 VZ EMG control of a pneumatic 5-fingered hand using a Petri net |
| topic |
ddc 004 |
| topic_unstemmed |
ddc 004 |
| topic_browse |
ddc 004 |
| format_facet |
Aufsätze Gedruckte Aufsätze |
| format_main_str_mv |
Text Zeitschrift/Artikel |
| carriertype_str_mv |
nc |
| hierarchy_parent_title |
Artificial life and robotics |
| hierarchy_parent_id |
240152476 |
| dewey-tens |
000 - Computer science, knowledge & systems |
| hierarchy_top_title |
Artificial life and robotics |
| isfreeaccess_txt |
false |
| familylinks_str_mv |
(DE-627)240152476 (DE-600)1413537-1 (DE-576)065025393 |
| title |
EMG control of a pneumatic 5-fingered hand using a Petri net |
| ctrlnum |
(DE-627)OLC2051536104 (DE-He213)s10015-011-0894-z-p |
| title_full |
EMG control of a pneumatic 5-fingered hand using a Petri net |
| author_sort |
Fukuda, Osamu |
| journal |
Artificial life and robotics |
| journalStr |
Artificial life and robotics |
| lang_code |
eng |
| isOA_bool |
false |
| dewey-hundreds |
000 - Computer science, information & general works |
| recordtype |
marc |
| publishDateSort |
2011 |
| contenttype_str_mv |
txt |
| container_start_page |
90 |
| author_browse |
Fukuda, Osamu Kim, Jonghwan Nakai, Isao Ichikawa, Yasunori |
| container_volume |
16 |
| class |
004 VZ |
| format_se |
Aufsätze |
| author-letter |
Fukuda, Osamu |
| doi_str_mv |
10.1007/s10015-011-0894-z |
| dewey-full |
004 |
| title_sort |
emg control of a pneumatic 5-fingered hand using a petri net |
| title_auth |
EMG control of a pneumatic 5-fingered hand using a Petri net |
| abstract |
Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm. © International Symposium on Artificial Life and Robotics (ISAROB). 2011 |
| abstractGer |
Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm. © International Symposium on Artificial Life and Robotics (ISAROB). 2011 |
| abstract_unstemmed |
Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm. © International Symposium on Artificial Life and Robotics (ISAROB). 2011 |
| collection_details |
GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_4322 |
| container_issue |
1 |
| title_short |
EMG control of a pneumatic 5-fingered hand using a Petri net |
| url |
https://doi.org/10.1007/s10015-011-0894-z |
| remote_bool |
false |
| author2 |
Kim, Jonghwan Nakai, Isao Ichikawa, Yasunori |
| author2Str |
Kim, Jonghwan Nakai, Isao Ichikawa, Yasunori |
| ppnlink |
240152476 |
| mediatype_str_mv |
n |
| isOA_txt |
false |
| hochschulschrift_bool |
false |
| doi_str |
10.1007/s10015-011-0894-z |
| up_date |
2024-07-04T04:40:41.963Z |
| _version_ |
1803622067162054656 |
| fullrecord_marcxml |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">OLC2051536104</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230502155330.0</controlfield><controlfield tag="007">tu</controlfield><controlfield tag="008">200819s2011 xx ||||| 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s10015-011-0894-z</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)OLC2051536104</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-He213)s10015-011-0894-z-p</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">004</subfield><subfield code="q">VZ</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Fukuda, Osamu</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">EMG control of a pneumatic 5-fingered hand using a Petri net</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2011</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">ohne Hilfsmittel zu benutzen</subfield><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Band</subfield><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© International Symposium on Artificial Life and Robotics (ISAROB). 2011</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract This article presents the control method for a 5-fingered artificial hand using electromyography (EMG) signals. Our targeted artificial hand is driven by pneumatic actuators to reduce its weight, and we use ON/OFF solenoid valves instead of electro pneumatic regulators to simplify the control system. The pneumatic hand has 15 degrees of freedom, and it seems difficult to reproduce all the finger motions from the EMG signals only. Therefore, we describe typical hand motions using a Petri net, and control the finger motions efficiently based on this model. Each state of the Petri net indicates one step in the hand posture to complete the intended motion. Simultaneously, this state corresponds to the ON/OFF pattern of the 15 solenoid valves. This enables the operator to control the 5-fingered dexterous hand smoothly, transiting the state in the Petri net according to the EMG motion signals. We conducted an experiment to verify the validity of the proposed method. In the experiment, five typical motions (spherical grasp, power grip, hook grip, key grip, precision grip) were successfully performed using the 6-channel EMG signals measured from the operator’s forearm.</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Kim, Jonghwan</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Nakai, Isao</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Ichikawa, Yasunori</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">Artificial life and robotics</subfield><subfield code="d">Springer Japan, 1997</subfield><subfield code="g">16(2011), 1 vom: Juni, Seite 90-93</subfield><subfield code="w">(DE-627)240152476</subfield><subfield code="w">(DE-600)1413537-1</subfield><subfield code="w">(DE-576)065025393</subfield><subfield code="x">1433-5298</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:16</subfield><subfield code="g">year:2011</subfield><subfield code="g">number:1</subfield><subfield code="g">month:06</subfield><subfield code="g">pages:90-93</subfield></datafield><datafield tag="856" ind1="4" ind2="1"><subfield code="u">https://doi.org/10.1007/s10015-011-0894-z</subfield><subfield code="z">lizenzpflichtig</subfield><subfield code="3">Volltext</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_OLC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SSG-OLC-TEC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SSG-OLC-MAT</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2006</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">16</subfield><subfield code="j">2011</subfield><subfield code="e">1</subfield><subfield code="c">06</subfield><subfield code="h">90-93</subfield></datafield></record></collection>
|
| score |
7.399477 |