A method for the control of multigrasp myoelectric prosthetic hands

Skyler Ashton Dalley, Huseyin Atakan Varol, Michael Goldfarb

Research output: Contribution to journalArticlepeer-review

89 Citations (Scopus)


This paper presents the design and preliminary experimental validation of a multigrasp myoelectric controller. The described method enables direct and proportional control of multigrasp prosthetic hand motion among nine characteristic postures using two surface electromyography electrodes. To assess the efficacy of the control method, five nonamputee subjects utilized the multigrasp myoelectric controller to command the motion of a virtual prosthesis between random sequences of target hand postures in a series of experimental trials. For comparison, the same subjects also utilized a data glove, worn on their native hand, to command the motion of the virtual prosthesis for similar sequences of target postures during each trial. The time required to transition from posture to posture and the percentage of correctly completed transitions were evaluated to characterize the ability to control the virtual prosthesis using each method. The average overall transition times across all subjects were found to be 1.49 and 0.81 s for the multigrasp myoelectric controller and the native hand, respectively. The average transition completion rates for both were found to be the same (99.2%). Supplemental videos demonstrate the virtual prosthesis experiments, as well as a preliminary hardware implementation.

Original languageEnglish
Article number6101579
Pages (from-to)58-67
Number of pages10
JournalIEEE Transactions on Neural Systems and Rehabilitation Engineering
Issue number1
Publication statusPublished - Jan 2012


  • Biomechatronics
  • electromyography (EMG)
  • multigrasp prosthesis
  • myoelectric control
  • transradial prosthesis

ASJC Scopus subject areas

  • Internal Medicine
  • Neuroscience(all)
  • Biomedical Engineering

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