Abstract: A novel control scheme for prosthetic hands through spatial understanding is proposed. The proposed control scheme features an imaging sensor and an inertial measurement unit (IMU) sensor, which makes prosthetic hands capable of visual and motion sensing. The imaging sensor captures the scene where the user is willing to grasp the object. The control system recognizes the target object, extracts its surface features and estimates its pose from the captured images. Then the spatial relationship is constructed between the hand and the target object. With the help of IMU sensors, the relationship can be tracked and kept wherever the prosthetic hand moves even the object is out of the view range of the camera. To interact with the user, this process is visualized using augmented reality (AR) technology. A test platform based on the proposed control scheme is developed and a case study is performed with the platform.

Yunan He, Osamu Fukuda, Nobuhiko Yamaguchi, Hiroshi Okumura and Kohei Arai, “Novel Control Scheme for Prosthetic Hands through Spatial Understanding” International Journal of Advanced Computer Science and Applications(IJACSA), 11(10), 2020. http://dx.doi.org/10.14569/IJACSA.2020.0111088

@article{He2020,
title = {Novel Control Scheme for Prosthetic Hands through Spatial Understanding},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2020.0111088},
url = {http://dx.doi.org/10.14569/IJACSA.2020.0111088},
year = {2020},
publisher = {The Science and Information Organization},
volume = {11},
number = {10},
author = {Yunan He and Osamu Fukuda and Nobuhiko Yamaguchi and Hiroshi Okumura and Kohei Arai}
}