2DOF Simultaneous Control of Dexterous Prosthesis based on Constrained NMF and Hadamard Product  It is a question of great import for the dexterous prosthesis to realize its continuous, simultaneous and proportional control of multiDOFs so that its rehabilitation function can be well achieved and its user acceptance rate can be improved. In this paper, we propose a new method, CNMFHP, which integrates the constrained nonnegative matrix factorization (NMF) and the Hadamard product, for estimating 2DOF wrist movements (DOF1, flexionextension; DOF2, adductionabduction) from myoelectric signals. Based on this method, the simultaneous control of a multifingered prosthesis is verified in this paper. Through establishing the mapping relationship between the wrist movements and the finger movements of the dexterous prosthesis, two grasp control strategies (synchronous and asynchronous) are proposed and successfully applied in operating the dexterous prosthesis to grasp four kinds of objects of different grasping patterns (cylindrical, spherical, tripod and lateral). Then, the performance of different strategies (synchronousasynchronous control) in the grasping process is compared in terms of the completion time and completion rate of the tasks, in this way the superiority of EMG control proposed in this paper is further verified.

A Novel Grasping Control Method for Dexterous Prosthesis based on Eyetracking * The stateofart dexterous prosthetic hand with multidegreeoffreedom urgently requires a control method to match its dexterity. The purpose of this paper is to develop a method on rapid grasp control of prosthetic hand based on eyetracking and verify its effectiveness by experiments. Firstly, an interactive experiment platform was established. Based on the platform, the operator can select the necessary grasping pattern from a graphic interface through eye movement and trigger the selected pattern by gazing the target for a short time (300ms). The selected grasp pattern will be fed back to the operator during the hand prosthesis performing reachandgrasp tasks. Finally, to verify the effectiveness of this method, experiments were conducted by an ablebodied participant wearing the prosthesis to grasp some dailyused objects. Our result shows that, by adopting the eye tracking technology in the human visual channel, the grasp control of the prosthesis can be supervised and regulated in realtime and thus an effective interaction between the dexterous prosthesis and the operator can be achieved.