Han-Pang Huang

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A multiple degrees of freedom prosthetic hand, NTU Hand, was developed in our laboratory. This paper is focused on the development of a myoelectric discrimination system for a multi-degree prosthetic hand. The discrimination system uses two surface electrodes to acquire the electromyography (EMG) signal from the flexor digitorum superficialis muscle and the(More)
Focusing on the physical interaction between people and machines within safety constraints in versatile situations, this paper proposes a new, efficient actuation approach, continuous-state coupled elastic actuation (CCEA), to provide oncoming human-machine systems with an intrinsic programmable stiffness capacity to shape output force corresponding to the(More)
Electromyograph (EMG) has the properties of large variations and nonstationarity There are two issues in the classification of EMG signals. One is the feature selection, and the other is the classifier design. Subject to the first issue, we propose a supervised feature mining (SFM) method, which is an intelligent approach based on genetic algorithms (GAS),(More)
Electromyograph (EMG) features have the properties of large variations and nonstationarity. An important issue in the classification of EMG is the classifier design. The major goal of this paper is to develop a classifier for the classification of eight kinds of prehensile postures to achieve high classification rate and reduce the online learning time. The(More)
Since a rigid humanoid robot arm is kinematically redundant and composed of seven degrees of freedom at least to execute complex and dexterous motions, how to construct a fast and precise control system becomes an important issue. To avoid high complexity of the high-order dynamic model considering coupling effects and payload variations typically inherited(More)
In the near future, robots will exist in our home, office, hospital, school and all other public places. In other words, robots have to work and share environments with human. However, there exist many invisible social rules or social protocols in human society. For example, people usually stand in a line to access certain services. It seems that there is a(More)
Simultaneously considering the physical interaction between the user and the robot within safety and performance constraints in rehabilitation and human walking situations, this paper proposes a new backdrivable torsion spring actuator (BTSA) with hybrid control that switches between direct electromyography (EMG) biofeedback control and zero impedance(More)