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Human-like reflex control for an artificial hand.

Michele Folgheraiter1, Giuseppina Gini

  • 1Politecnico di Milano, DEI, Piazza Leonardo da Vinci 32, Italy. folghera@elet.polimi.it

Bio Systems
|September 8, 2004
PubMed
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This study introduces a novel reflex control system for artificial hands using dynamic artificial neurons. This biomimetic approach enhances control flexibility and efficiency for humanoid hand joints.

Area of Science:

  • Robotics
  • Biomimetic Engineering
  • Artificial Intelligence

Background:

  • Human reflex control offers efficient and adaptable mechanisms for motor tasks.
  • Existing artificial hand controllers often lack the nuanced control of biological systems.
  • Developing anthropomorphic artificial hands requires sophisticated control strategies.

Purpose of the Study:

  • To develop and simulate a low-level reflex control strategy for an anthropomorphic artificial hand.
  • To emulate human reflex control using dynamic artificial neurons for position and stiffness regulation.
  • To enhance the dexterity and safety of artificial hands through biomimetic control.

Main Methods:

  • Development of a hierarchical control architecture based on artificial neurons.

Related Experiment Videos

  • Implementation of dynamic artificial neurons simulating biological receptors and motoneurons.
  • Modeling of artificial muscles and joints for the 'Blackfingers' artificial hand.
  • Simulation of the control strategy on the artificial hand model.

    • Main Results:

    • The developed controller demonstrates a hierarchical structure with distinct functional neuron types.
    • Artificial neurons successfully regulate finger joint position, moment, and stiffness.
    • The inverse myotatic reflex emulation provides protection against external forces.
    • Simulations show the control system is flexible and efficient across various humanoid hand joints.

    Conclusions:

    • The proposed dynamic artificial neuron-based reflex control is a flexible and efficient method for anthropomorphic artificial hands.
    • This biomimetic approach successfully emulates key aspects of human reflex control, including stiffness modulation and protective reflexes.
    • The 'Blackfingers' model and its control system represent a significant advancement in humanoid hand robotics.