On the Shared Control of an EMG-Controlled Prosthetic Hand: Analysis of User–Prosthesis Interaction

  title={On the Shared Control of an EMG-Controlled Prosthetic Hand: Analysis of User–Prosthesis Interaction},
  author={C. Cipriani and F. Zaccone and S. Micera and M. Carrozza},
  journal={IEEE Transactions on Robotics},
An anthropomorphic underactuated prosthetic hand, endowed with position and force sensors and controlled by means of myoelectric commands, is used to perform experiments of hierarchical shared control. Three different hierarchical control strategies combined with a vibrotactile feedback system have been developed and tested by able-bodied subjects through grasping tasks used in activities of daily living (ADLs). The first goal is to find a good tradeoff between good grasping capabilities and… Expand
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