Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic Delay
As robots become increasingly integrated into human society, the importance of human–machine interfaces continues to grow. This study proposes a faster and more accurate control system for myoelectric prostheses by considering the Electromechanical Delay (EMD), a key characteristic of Electromyograp...
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MDPI AG
2024-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/1/113 |
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| author | Jiwoong Won Masami Iwase |
| author_facet | Jiwoong Won Masami Iwase |
| author_sort | Jiwoong Won |
| collection | DOAJ |
| description | As robots become increasingly integrated into human society, the importance of human–machine interfaces continues to grow. This study proposes a faster and more accurate control system for myoelectric prostheses by considering the Electromechanical Delay (EMD), a key characteristic of Electromyography (EMG) signals. Previous studies have focused on systems designed for wrist movements without attempting implementation. To overcome this, we expanded the system’s capability to handle more complex movements, such as those of fingers, by replacing the existing four-channel wired EMG sensor with an eight-channel wireless EMG sensor. This replacement improved the number of channels and user convenience. Additionally, we analyzed the communication delay introduced by this change and validated the feasibility of utilizing EMD. Furthermore, to address the limitations of the SISO-NARX model, we proposed a MISO-NARX model. To resolve issues related to model complexity and reduced accuracy due to the increased number of EMG channels, we introduced ridge regression, improving the system identification accuracy. Finally, we applied the ZPETC+PID controller to an actual servo motor and verified its performance. The results showed that the system reached the target value approximately 0.240 s faster than the response time of 0.428 s without the controller. This study significantly enhances the responsiveness and accuracy of myoelectric prostheses and is expected to contribute to the development of practical devices in the future. |
| format | Article |
| id | doaj-art-1852a9bfb99e4126bdfe19bc49ce7c8f |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-1852a9bfb99e4126bdfe19bc49ce7c8f2025-01-10T13:20:55ZengMDPI AGSensors1424-82202024-12-0125111310.3390/s25010113Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic DelayJiwoong Won0Masami Iwase1Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo 120-8551, JapanDepartment of Robotics and Mechatronics, Tokyo Denki University, Tokyo 120-8551, JapanAs robots become increasingly integrated into human society, the importance of human–machine interfaces continues to grow. This study proposes a faster and more accurate control system for myoelectric prostheses by considering the Electromechanical Delay (EMD), a key characteristic of Electromyography (EMG) signals. Previous studies have focused on systems designed for wrist movements without attempting implementation. To overcome this, we expanded the system’s capability to handle more complex movements, such as those of fingers, by replacing the existing four-channel wired EMG sensor with an eight-channel wireless EMG sensor. This replacement improved the number of channels and user convenience. Additionally, we analyzed the communication delay introduced by this change and validated the feasibility of utilizing EMD. Furthermore, to address the limitations of the SISO-NARX model, we proposed a MISO-NARX model. To resolve issues related to model complexity and reduced accuracy due to the increased number of EMG channels, we introduced ridge regression, improving the system identification accuracy. Finally, we applied the ZPETC+PID controller to an actual servo motor and verified its performance. The results showed that the system reached the target value approximately 0.240 s faster than the response time of 0.428 s without the controller. This study significantly enhances the responsiveness and accuracy of myoelectric prostheses and is expected to contribute to the development of practical devices in the future.https://www.mdpi.com/1424-8220/25/1/113user’s intentionelectromyography (EMG)electro-mechanical delay (EMD)NARX modelzero-phase error tracking control (ZPETC) |
| spellingShingle | Jiwoong Won Masami Iwase Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic Delay Sensors user’s intention electromyography (EMG) electro-mechanical delay (EMD) NARX model zero-phase error tracking control (ZPETC) |
| title | Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic Delay |
| title_full | Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic Delay |
| title_fullStr | Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic Delay |
| title_full_unstemmed | Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic Delay |
| title_short | Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic Delay |
| title_sort | highly responsive robotic prosthetic hand control considering electrodynamic delay |
| topic | user’s intention electromyography (EMG) electro-mechanical delay (EMD) NARX model zero-phase error tracking control (ZPETC) |
| url | https://www.mdpi.com/1424-8220/25/1/113 |
| work_keys_str_mv | AT jiwoongwon highlyresponsiveroboticprosthetichandcontrolconsideringelectrodynamicdelay AT masamiiwase highlyresponsiveroboticprosthetichandcontrolconsideringelectrodynamicdelay |