SEMG based real-time embedded force control strategy for a prosthetic hand prototype

This paper presents a real-time force control strategy for a prosthetic hand. The proposed design is capable of decoding the prerecorded surface electromyographic (sEMG) signal as well as the sensory force feedback from the sensors to control the force of the prosthetic hand prototype. The input sEMG signal is preprocessed using a Half-Gaussian filter with optimized parameters and Chebyshev type II filter. Entropy of the sEMG signal is used as a threshold value to establish the correlation between the sEMG signal and the skeletal muscle force. A simple proportional integral controller along with a two-stage embedded design is used for the force control of the prosthetic hand. The results are transmitted to the computer through the universal asynchronous receiver/ transmitter (UART)interface of the proposed embedded design. The results demonstrate good performance in controlling the force of the prosthetic hand.