The human hand is a complex end-effector capable of a large variety of postures. Multifingered robot hands, such as the Belgrade/USC hand, can approximate human hand functionality, and it is possible to consider their use in prosthetics. The authors have developed a system, PRESHAPE, that translates user commands into motor signals using the virtual finger concept. For control, electromyographic (EMG) signals from forearm muscles are used. The authors describe PRESHAPE and its use of EMG signals. Simulation results are presented.>

Multi-fingered robotic hands are attempts to approximate human hand characteristics and functionality, and it is reasonable to consider their possible adaptation and use in prosthetics and rehabilitation. The Belgrade/USC robot hand is used as a prototype prosthetic hand in order to evaluate a system that translates task-level commands into motor commands. The system, PRESHAPE, uses the virtual finger concept for generating the free and guarded motions that occur during the phases of hand movements in prehensile and nonprehensile tasks. This paper describes the control philosophy of PRESHAPE and presents simulation results for various tasks.

The majority of prosthetic hands available today make no pretense of approaching the versatility and functionality of the human hand. Available prostheses generally possess only one degree of freedom, which greatly reduces the manipulative ability of the device. Additional degrees of freedom are rarely added, because of the difficulty in controlling them naturally. The authors have developed a control philosophy based on minimum information transfer from the amputee and maximum local autonomy of the device. To test this philosophy, they have developed a graphical simulation of a five-fingered anthropomorphic device. The results presented show that this is a viable method for the control of a multifingered prosthetic hand.>