ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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3
Issue
vol 60 / MARCH, 2017
Article
UDC 681.51

MULTIFUNCTIONAL ACTIVE ARTIFICIAL ARM

A. S. Borgul
ITMO University; student


K. A. Zimenko
ITMO University; student


A. A. Margun
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


A. S. Kremlev
ITMO University, Saint Petersburg, 197101, Russian Federation; Deputy Dean


Abstract.   Principle of operation, construction, and control system of active hand prosthesis with 7 DOF are described. Requirements for these devices are always ambivalent. For example, number of control signals decreases with increasing of amputation’s degree. But at the same time operator needs to increase number of active joints. An algorithm for control over the device based on application of EEG control signals, force sensitive sensors, and accelerometer is developed. The control system makes it possible to increase the number of active DOF, improve the system accuracy, and compensate external disturbances and reactive torque caused by the prosthesis movement.
Keywords: artificial limb, electroencephalography signal, disturbances compensation, human-machine interface