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.

A Novel Method of Combining Computer Vision, EyeTracking, EMG, and IMU to Control Dexterous Prosthetic Hand Due to poor robustness, instability, and the heavy burden of use, the traditional myoelectric control method is still powerless in the face of the control of the dexterous prosthetic hand. To solve this problem, a new method (CVEEI), that combines computer vision, eye tracking, electromyogram (EMG) and IMU was proposed in this paper. Firstly, through gazing (eyetracking) in front of the screen, the grasping pattern of the objects can be fed back to the prosthetic hand controller; Then, the prosthetic hand can be controlled to transport the object to the position expected, on collaboration of both EMG and IMU. In this process, the grasping pattern of all objects can be recognized by computer vision in realtime. Importantly, through comparing the traditional EMG control method (cocontraction to switch) in the transport experiment of the objects, the superiority of this new method in operating the dexterous prosthetic hand was further verified (fast u003e 1ssingle object) in this paper.