Zecca M, Micera Silvestro, Carrozza M C, Dario P
ARTS Lab, Scuola Superiore Sant'Anna, Pontedera, Italy.
ARTS Lab, Scuola Superiore Sant'Anna, Polo Sant'Anna Valdera, Viale Rinaldo Piaggio, 34, 56025 Pontedera (PI), Italy.
Crit Rev Biomed Eng. 2017;45(1-6):383-410. doi: 10.1615/CritRevBiomedEng.v45.i1-6.150.
The human hand is a complex system, with a large number of degrees of freedom (DoFs), sensors embedded in its structure, actuators and tendons, and a complex hierarchical control. Despite this complexity, the efforts required to the user to carry out the different movements is quite small (albeit after an appropriate and lengthy training). On the contrary, prosthetic hands are just a pale replication of the natural hand, with significantly reduced grasping capabilities and no sensory information delivered back to the user. Several attempts have been carried out to develop multifunctional prosthetic devices controlled by electromyographic (EMG) signals (myoelectric hands), harness (kinematic hands), dimensional changes in residual muscles, and so forth, but none of these methods permits the "natural" control of more than two DoFs. This article presents a review of the traditional methods used to control artificial hands by means of EMG signal, in both the clinical and research contexts, and introduces what could be the future developments in the control strategy of these devices.
人类的手是一个复杂的系统，具有大量的自由度（DoFs），其结构中嵌入了传感器、执行器和肌腱，以及复杂的分层控制。尽管如此复杂，但用户执行不同动作所需的努力却相当小（尽管经过适当且漫长的训练）。相反，假肢手只是对自然手的苍白复制，其抓握能力显著降低，且没有向用户反馈任何感官信息。人们已经进行了多次尝试来开发由肌电（EMG）信号控制的多功能假肢装置（肌电手）、吊带（运动手）、残余肌肉的尺寸变化等，但这些方法都无法实现对两个以上自由度的“自然”控制。本文综述了在临床和研究背景下通过EMG信号控制人工手的传统方法，并介绍了这些装置控制策略未来可能的发展方向。
