Study on Intention Recognition and Sensory Feedback : Control of Robotic Prosthetic Hand through EMG Classification and Proprioceptive Feedback using Rule-based Haptic Device
- Title
- Study on Intention Recognition and Sensory Feedback : Control of Robotic Prosthetic Hand through EMG Classification and Proprioceptive Feedback using Rule-based Haptic Device
- Alternative Title
- 사용자 의도 검출 및 감각 피드백 연구 : 근전도 신호 분류를 이용한 로봇 의수의 제어 및 규칙기반 햅틱 디바이스를 이용한 자기수용감각 피드백
- Author(s)
- Hyeongdo Cha
- DGIST Authors
- Hyeongdo Cha ; Sukho Park ; Sanghyun Park
- Advisor
- 박석호
- Co-Advisor(s)
- Sanghyun Park
- Issued Date
- 2021
- Awarded Date
- 2021/02
- Type
- Thesis
- Table Of Contents
-
Ⅰ. Introduction 1
1.1 Introduction of Commercialized Robotic Prosthetic Hand 1
1.2 Introduction of Previous Sensory Feedback Device for robotic prosthetic hand 1
1.3 Introduction of EMG Classification for controlling robotic prosthetic hand 2
1.4 Research contents and goal 2
Ⅱ. Design Concept 3
2. Structure of closed-loop system for proprioceptive feedback of prosthetic Hand 3
Ⅲ. Method 5
3.1 Proprioceptive Feedback using Proposed Haptic Device 5
A. Design of Proposed Haptic Device 5
B. Displacement Haptic Pattern & Rule for Proprioceptive Feedback of Proposed Haptic Device 7
C. Working Flow Chart of Proposed Haptic Device 9
D. Accuracy Measurement of Proprioceptive Feedback using Proposed Haptic Device 10
3.2 Convolutional Neural Network Model for EMG Signal Classification 14
3.3 Accuracy Measurement of Intention Recognition and Sensory Feedback in Integrated System 15
IV. Experimental Results 18
4.1 Accuracy of Proprioceptive Feedback using Proposed Haptic Device 18
4.2 Accuracy of CNN Model for EMG Signal Classification 20
4.3 Performances of Intention Recognition and Sensory Feedback in Integrated System 22
V. Conclusion 25
- URI
-
http://dgist.dcollection.net/common/orgView/200000365916
http://hdl.handle.net/20.500.11750/16724
- Degree
- Master
- Department
- Robotics Engineering
- Publisher
- DGIST
- Related Researcher
-
-
Park, Sukho
- Research Interests Biomedical Micro/Nano Robotics; Biomedical Devices and Instruments
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- Files in This Item:
-
There are no files associated with this item.
- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
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