The novel underactuated design of the PRISMA HAND I and its multimodal control based on integrated electromyographic signals and voice commands is presented. Due to limitations of EMG sensors and residual physiological signals of amputees, a smart solution utilizing a voice recognition module has been integrated into the EMG control to realize advanced intuitive commands and easy connection with the arm. Inspired by neuroscience studies on the human hand, two motor synergies have been implemented. The thumb adduction/abduction independent motion allows in-hand manipulation. The transmission system is based on whiffletree and pulleys for motion differentiation and on antagonistic elastic tendons. Using EMG and voice commands, the motors are moved together in a certain number of combination suitably and easily programmed using Arduino electronic prototyping. The use of a current sensor allows controlling the strength of the grasp to handle also fragile objects. The contributions of this work are: the bio-inspired design of kinematics and motion couplings by means of two motor synergies, the simple and efficient control interface allowing easy connection to the arm and intuitive use, finally, the cost reduction using economic hardware and mechanical components while preserving performance.

提出了PRISMA HAND I的新型欠驱动设计及其基于集成肌电信号和语音命令的多模式控制。由于EMG传感器和截肢者的残留生理信号的局限性，利用语音识别模块的智能解决方案已集成到EMG控制中，以实现高级直观命令并易于与手臂连接。受人类神经科学研究的启发，已经实现了两种运动协同作用。拇指内收/外展独立运动允许进行手动操作。传动系统基于摆轮和皮带轮，以实现运动区分，并基于对抗性弹性筋。使用EMG和语音命令，可以使用Arduino电子原型对电动机进行一定数量的组合移动，并进行适当方便的编程。使用电流传感器可以控制抓握的强度，以处理易碎物体。这项工作的贡献是：通过两个电动机的协同作用，以运动学和运动联轴器的生物启发设计，简单而有效的控制界面允许轻松连接到手臂并直观使用，最后，使用经济的硬件和机械装置降低了成本组件，同时保持性能。