Human-Inspired Reflex to Autonomously Prevent Slip of Grasped Objects Rotated with a Prosthetic Hand

Figure 4

Test environment: (1) test operator; (2) test subject; (3) EMG preamplifiers strapped to the subject’s forearm; (4) computer running Simulink; (5) MyoLab II for EMG signal processing; (6) sorting task; (7) Yaskawa seven DOF robot arm; (8) Motion Control Hand; (9) aluminum block, Object 6 in Figure 3; (10) LED indicator showing a failure if the object was squeezed too tightly.