In order to create more natural motion in prosthetic devices, the relation between the oft-used EMG signals and the mechanical motion of the limb needs to be better understood. This relationship grows in complexity with multiple fingers and complicated motions.
This project presents a device designed to measure the force, position, and velocity of each finger independently for comparison with EMG data. Data from a representative test were presented, and a method of predicting the force of each finger was shown, with the resulting prediction generally following the measured force profile.
This design will allow improved data to be independently gathered from more fingers, representing more complex motions of the hand, helping the EMG-motion relation to be comprehended more fully.
All four devices have different gains in Force control mode in order to run more smoothly. If uploading new code to all Arduinos, remember to put in the correct gain by changing the value of the pgainForce variable in the Global variables section.
This code has a document (116 pages) which describe the algorithm in detail.
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