Compliant Grasp Control Method for the Underactuated Prosthetic Hand Based on the Estimation of Grasping Force and Muscle Stiffness with sEMG.

Human muscles can generate force and stiffness during contraction. When in contact with objects, human hands can achieve compliant grasping by adjusting the grasping force and the muscle stiffness based on the object's characteristics. To realize humanoid-compliant grasping, most prosthetic hands obtain the stiffness parameter of the compliant controller according to the environmental stiffness, which may be inconsistent with the amputee's intention.