Myoelectric Controlled Bionic Robotic Hand for Voluntary Finger Motion Driven by Neuromuscular Intent
Year: 2026
Type: article
Abstract: Reliable control of robotic hands using residual muscle activity is challenging due to low-amplitude myoelectric signals, susceptibility to noise, and the need for real-time actuation. This paper presents a myoelectric-controlled robotic hand capable of voluntary independent finger motion. Surface myoelectric signals from the forearm are processed via amplification, filtering, and digital analysis to enable accurate detection of muscle activity. The system achieves independent and simultaneous actuation of five fingers using a tendon-driven, servo-actuated mechanism in a lightweight ABS structure. Experimental evaluation demonstrates finger actuation delays ranging from 314 ms to 650 ms, maximum holding strengths between 1.75 N and 4.07 N, and minimum gripping distances between 22 mm and 49 mm across all five fingers, with peak motor currents remaining below 0.7 A. Results validate consistent muscle activity detection, successful execution of individual and combined finger movements, and the robustness of the proposed design.
Source: Machines
Authors: André Moreira, Marco Pinto, Miguel Fernandes, João Costa, Jorge Fidalgo, Alessandro Fantoni
Institution: Universidade Politécnica de Lisboa
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
Award: G118759124
OpenAlex ID: W7140130832