KR100766173B1 - An artificial hand with fingers independently operated and an apparatus for controlling the same - Google Patents

Abstract

The present disclosure relates to the number of EMGs capable of individually controlling the fingers that can realize free hand motion closer to the real hand by detecting two or more EMG signals in the user's arm and individually driving the fingers according to the EMG signals. The present invention comprises a hand portion formed by connecting the joint actuators constituting the nodes of the fingers with the connecting member so as to pivot with respect to each other, the fingers are coupled to the plurality of palms; EMG detector attached to the arm of the disabled to obtain EMG signals; And a control device for individually driving the joint actuators according to the EMG signals detected by the EMG detector to implement various hand motions, wherein the joint actuator comprises: a motor having a pinion gear mounted to its output shaft; A gear assembly having a plurality of gears engaged with the pinion gear of the motor, the gear assembly configured to reduce and output the rotational force of the motor; An output shaft that is pivoted according to the rotational force decelerated through the gear assembly; And a motor control unit which controls the motor in accordance with a control signal of the control device to cause the output shaft to pivot at an indicated direction and angle.

Artificial number, electron number, EMG, finger joint, EMG signal

Description

EMG and individual control device for finger control {AN ARTIFICIAL HAND WITH FINGERS INDEPENDENTLY OPERATED AND AN APPARATUS FOR CONTROLLING THE SAME}

Detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings, in which numerals designate corresponding parts in the drawings.

1 and 2 is a block diagram showing the mechanical mechanism of the number of myopia that can be individually controlled of the finger according to the present invention,

3 is an exploded perspective view of a joint actuator forming a node of a finger in the prosthesis shown in FIGS. 1 and 2,

Figure 4 is a block diagram showing the configuration of the joint actuator shown in Figure 3,

5 is a block diagram of a control device for the number of myocardium capable of individually controlling the fingers according to the present invention,

FIG. 6 is a circuit diagram illustrating in detail the EMG signal processor which preprocesses the EMG signal illustrated in FIG. 5 to recognize the EMG signal.

FIG. 7 is a circuit diagram illustrating the controller of FIG. 5 in detail.

8 is a flowchart for explaining an operating method of the present invention;

9 is a photograph showing the hand movement of the myocardium in the gripping mode,

10 is a picture showing the hand gestures in the game mode,

11 is a block diagram showing another embodiment of the number of myopia capable of individual control of the finger according to the present invention.

** Explanation of symbols for main parts of drawings **

10: arm 20: hand

22: palm 24: finger

30: joint actuator 40: connection member

50: motor control unit 60: controller

70: EMG detector 80: Mode selection switch

110: EMG signal processing unit 120: Control unit

130: LED display

The present invention relates to a number of artificial to replace the function of the hand worn by a handicapped person without a hand, and more particularly, the finger portion is configured to have a joint and at least two or more EMG signals detected by the arm of the hand EMG signal According to the present invention relates to the number of myopia and the control device capable of individual control of the finger that can implement free hand motion closer to the real hand by individually driving the finger having a joint.

Every year, the number of people with disabilities caused by diseases and accidents is increasing, and the rehabilitation and normal return to society of these people with disabilities are a big social problem worldwide. Therefore, a lot of research has been done on rehabilitation equipment and orthoses, and one of them is an artificial number worn by a handicapped person without a hand or an arm.

The artificial number is divided into the number of aesthetics and the number of functionalities. The number of aesthetics is placed in the arm shape where the joints and the skeleton are installed at the bottom of the upper arm case, and the skin shape is applied to the outside of the skeleton with sponge cushion material. It was made by fitting the shape, and the number of functions integrated the index finger and the middle finger so that the tip and the thumb tip were operated to grab the object. In particular, the holding force of the number of functions is determined by the force of the spring built in the palm, and when the object is placed, the belt worn on the palm is connected to the belt by holding the belt worn on both shoulders of the human body inside the chest. Let your hands open by pulling on the string.

In addition to the above-mentioned simple functions, the number of electrons operated by the hand of the motor has been developed. This conventional number of electrons is impossible except for the operation of allowing the thumb and the remaining fingers to be integrally pinched or extended without the finger joint. It was. Therefore, the conventional number of electrons can not be implemented only by holding and unfolding the fingers by simply operating the fingers together without the movement of the finger joints, which makes the movements unnatural and can only do things other than to grab objects. There was a drawback that could not be provided.

Accordingly, an object of the present invention is to solve the above-described drawbacks, to detect two or more EMG signals in the arm of a disabled person to control each joint of the finger in accordance with the EMG signal to operate each finger individually By providing a number of myopia that can be individually controlled by the finger that can implement free hand movement closer to the real hand.

Another object of the present invention is to control the number of EMG to embody the operation of grabbing a large object and the operation of picking up a small and thin object by individually controlling the finger according to the EMG signal and control the number of EMG To provide a device.

The number of myopia that can be individually controlled by the finger according to the present invention for achieving the above object is a hand worn by a handicapped person without a hand to perform the function of the hand, each of the joint actuators forming a node of the finger with respect to each other A hand part which is pivotally connected to the connecting member to form a finger and is formed by coupling the finger to a plurality of palm parts; EMG detector attached to the arm of the disabled to obtain EMG signals; And a control device for individually driving the joint actuators according to the EMG signals detected by the EMG detector to implement various hand motions, wherein the joint actuator comprises: a motor having a pinion gear mounted to a rotation shaft thereof; A gear assembly having a plurality of gears engaged with the pinion gear of the motor, the gear assembly configured to reduce and output the rotational force of the motor; An output shaft that is pivoted according to the rotational force decelerated through the gear assembly; And a motor control unit for controlling and driving the motor in accordance with a control signal of the control device to cause the output shaft to rotate at an indicated direction and angle.

According to the present invention for achieving the above object, the number of EMG control device capable of individually controlling the finger receives the EMG signal of the two channels detected from the arm of the disabled, a plurality of joint actuator is connected to each finger made An EMG control device which controls the palmar portion to be pinched or unfolded, amplifies and offsets the EMG signals of the two channels, extracts only pure EMG signals, and digitally converts the amplified EMG signals. An EMG signal processor for decompressing the pressure; And converting the EMG signal output from the EMG signal processor into a digital signal, and determining which motion signal is the EMG signal converted into the digital signal, and controlling the turning angle and direction of the joint actuators to control the rotation of the joint actuator. It includes a control unit for controlling the operation.

According to the embodiment, the EMG signal processing unit for measuring the EMG signals 1 and 2 of the two channels obtained from the arm of the disabled as a measurement signal voltage relative to the reference voltage; An offset fine adjustment unit for removing a minute DC voltage component (offset voltage) generated while measuring the signal voltage in the measurement amplifier unit from the signal voltage; A main amplifier for amplifying the signal voltage from which the offset voltage is removed to a large voltage; And a voltage reducing unit for reducing the large signal voltage amplified by the main amplifier to a voltage of 5 V or less.

Preferably, the control unit includes an analog / digital conversion unit for converting the analog signal voltage reduced in the voltage reducing unit into a digital signal voltage; A digital controller which determines which operation the EMG signals of the two channels converted into the digital signal voltages are required to output, and outputs a control signal of the joint actuators so that the joint actuators perform a corresponding operation; And a serial communication unit which transmits a control signal of the digital control unit to the joint actuators.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 is a schematic view showing the mechanical mechanism of the number of EMG capable of individual control of the finger according to the present invention, in particular Figure 1 is an assembled perspective view and Figure 2 is an exploded perspective view. 3 is an exploded perspective view of a joint actuator forming a node of a finger in the prosthesis shown in FIGS. 1 and 2, and FIG. 4 is a block diagram showing the configuration of the joint actuator shown in FIG. 3.

As shown in Figs. 1 and 2, the myocardium of the present invention is shaped into an arm portion 10 for wearing on a cut arm and a hand portion 20 coupled to the arm portion. In particular, the arm portion 10 is made to fit into the cut arm of the disabled, it is preferable to be made in consideration of the length of the cut arm. The arm does not have to be present in the myopia. In addition, the hand portion 20 is composed of the palm 22 and the fingers (24a ~ 24c) that is coupled to the palm 22 is operated. These fingers (24a ~ 24c) is made of a joint having a number of joints, each node is composed of a joint actuator (actuator) (30) is the joint actuator 30 is connected to each other to form a joint They are pivoted about each other. In the present embodiment, the fingers 24a to 24c coupled to the palm 22 are composed of three fingers of the thumb 24a, the index finger 24b, and the middle finger 24c, and each finger 24a to 24c is a finger. It consists of two joint actuators (30a ~ 30f). Joint actuators 30a to 30f constituting a finger node are individually driven according to EMG signals to implement various motions of the hand.

As shown in FIG. 3, each of the joint actuators 30 has a motor 32 mounted to the body 31, and the pinion 32a is coupled to the shaft of the motor 32, and the gear is connected to the pinion 32a. The assembly 33 is engaged to reduce the rotational speed of the motor 32 to pivot the output shaft 34. The gear assembly 33 includes a first gear 33a meshed with the pinion 32a, a second gear 33b meshed with the first gear 33a, and a third gear 33c meshed with the second gear 33b. ) And a fourth gear 33d which is meshed with the third gear 33c and formed on the output shaft 34. Each of the first to third gears 33a to 33c has a large gear and a small gear integrally formed on the same shaft, so that two neighboring gears are engaged with the small gear and the large gear to obtain a reduction ratio. The output shaft 34, which is decelerated and pivoted at a predetermined angle, is exposed so that its intermediate portion is exposed to the outside of the body 31 to engage the connecting member. Thus, the joint actuator 30 is coupled to another component, such as another neighboring joint actuator or palm, via the connecting member.

The body 31 of the joint actuator mounts the first and second covers 35 and 36 on both sides thereof to shield and protect the internal components from the outside, and on one side of the body 31 an output shaft 34 at an intermediate portion thereof. The output shaft exposed portion 31a is formed to expose the intermediate portion of the coupling member, and the coupling portion 31b to which the coupling member is coupled is provided on the opposite side of the output shaft exposed portion 31a. Accordingly, each finger engages and engages the first connecting portion 42a provided at one end of the first connecting member 40a on the output shaft 34 of the first joint actuators 30a, 30c, and 30e forming the first node. By coupling the second connecting portion 44a provided at the other end of the first connecting member 40a to the palm 22, the first joint actuator 30a, 30c, 30e is coupled to the palm 22 to connect the first node of the finger. To form. Then, the first joint actuator 30a, 30c, 30e in the palm 22 can be rotated at a predetermined angle. Then, the first connecting portion 42b provided at one end of the second connecting member 40b is coupled to the engaging portion 31b of the first joint actuators 30a, 30c, and 30e, and the second connecting portion 44b at the other end thereof. To the output shaft 34 'of the second joint actuator 30b, 30d, 30f. Then, the second joint actuators 30b, 30d, and 30f are pivotally coupled to the first joint actuators 30a, 30c, and 30e at a predetermined angle.

The first and second joint actuators 30a to 30f coupled as described above form two nodes of each finger, each controlled to be pivoted at an angle, and be folded into the palm 22 or extended outward. To this end, each of the first and second joint actuators 30a to 30f is provided with its own motor control unit 50 to control and drive its own motor 32 in accordance with the control signals of the prosthetic control device, which will be described later. That is, as shown in FIG. 4, the motor control unit 50 is supplied with current through the reverse voltage preventer 51 and supplied to the processor 53 and the motor driver 54 through the regulator 52. In addition, the control signal Tx transmitted from the hand control device 60 is converted into a pulse width modulation (PWM) signal and a direction signal for controlling the motor 32 by the processor 53 and the motor driver 54. ) The motor driver 54 drives the motor 32 in accordance with the pulse width modulation signal and the direction signal to rotate the gear shaft 33 at the direction, angle, and speed to control the output shaft 34. The joint actuator 30 is also provided with a rotation angle sensor 55 to detect the rotation angle and transmit it to the control device 60 through the processor 53 so that the drive of the joint actuator 30 is controlled by the control device 60. It is used as data to confirm whether or not the control was performed. The joint actuator 30 is further provided with a voltage sensor 56 for detecting the supplied voltage and a current sensor 57 for detecting the current. The detected voltage and current are sent to the control device 60 as the actuator side status signal Rx together with the detected rotation angle.

The prosthesis is provided with an EMG detector 70 for detecting the EMG signal of the user. The EMG detector 70 is configured to be attached to the user's arm, and detects EMG signals of at least two channels in the user's arm. In the present embodiment, the number of EMGs is controlled by obtaining EMG signals 1 and 2 of two channels from a user. The EMG signal is preferably detected in muscles below the elbow of the user. Therefore, the EMG detector 70 transmits the EMG signals 1 and 2 of the two channels detected by the user to the control device 60, and the control device 60 according to the EMG signals 1 and 2 to the user. It determines the operation is to output the control signal of the joint actuators (30a ~ 30f). The prosthesis is provided with a mode selection switch 80 which can select a gripping mode for catching an object and a game mode for enjoying a rock-paper-scissors game. This mode selector switch 80 is provided on the surface of the prosthetic hand, and it is convenient to use it, preferably on the arm of the prosthetic hand. When the user selects the gripping mode by operating the mode selection switch 80, the control device 60 determines the gripping operation to be performed according to the EMG signals 1 and 2, and when the game mode is selected, the control device 60 selects the EMG signal. Determine the game action to be performed according to 1 and 2. For example, in the rock-paper-scissors game mode, it is determined whether the action to be performed is a pair of scissors, rock, or visible by the combination of EMG signals 1 and 2 input.

The prosthetic controller 60 has a built-in program for controlling the joint actuators 30a to 30f to implement various operations according to the EMG signal and the mode selection signal of the two channels. The control device 60 is preferably embedded in the arm portion 10 or palm 22 of the prosthetic hand, and the detailed configuration thereof will be described in detail with reference to FIGS. 5 to 7.

The arm portion 10 and the hand portion 20 described above are made of a synthetic resin, and is molded of a material having a stiffness and elasticity similar to that of the human body among synthetic resins. Furthermore, it is preferable to make and cover a finger-like epidermis S with a synthetic resin having a skin-like feeling on the surfaces of the joint actuators 30a to 30f constituting the fingers.

5 is a block diagram of an apparatus for controlling myofascial muscle according to the present invention, which enables individual control of a finger. FIG. 6 is a circuit diagram illustrating in detail the EMG signal processor that processes the EMG signal illustrated in FIG. 5 so that the controller can recognize the signal. FIG. 7 is a circuit diagram illustrating the controller illustrated in FIG. 5 in detail.

The EMG controller 60 includes an EMG signal processing unit 110 which receives EMG signals 1 and 2 of two channels from an EMG detector and processes them into signals that can be recognized by the controller. The EMG signal processor 110 measures the measurement amplifier 112 for measuring the EMG voltage (EMG signal) based on the reference voltage ref and the DC offset voltage generated by the measurement amplifier 112. The analog fine / digital converter can recognize the offset fine adjustment unit 114 to remove, the main amplifier 116 to amplify the offset-adjusted EMG voltage to a large voltage, and the large voltage from the main amplifier 116. The voltage reducing unit 118 reduces the pressure to a low voltage. In more detail, the measurement amplifier 112 is a differential amplifier measuring a voltage V_EMG based on the reference voltage V_Reff as shown in FIG. 6, and a minute DC voltage component is present in the voltage output from the differential amplifier. The DC voltage component (offset voltage) becomes a major factor that causes the total voltage to exceed ± 15V so that the EMG signal is lost in the process of amplifying the signal in the main amplifier 116. Therefore, the offset fine adjustment unit 114 adjusts the offset by removing the DC voltage component using a variable resistor. In addition, the voltage reducing unit 118 decompresses the EMG signal amplified by the main amplifier 116 to a signal of 5V or less, that is, 0 to 5V, so that the analog / digital converter can be applied.

The EMG signal detected and preprocessed by the user is input to the controller 120, and the controller 120 determines the operation according to the input EMG signals 1 and / or 2 of the joint channels 30a to 30f. By driving the hand gesture is realized. The controller 120 includes an analog / digital converter 122 for converting an analog signal decompressed by the voltage reducing unit 118 of the EMG signal processor 110 into a digital signal. The digital signals of the two channels converted by the analog / digital converter 122 are determined by the digital controller 124 to determine what operation is required. That is, the digital controller 124 determines which mode is the mode selected by the mode selection switch 80, and determines which hand gestures the signals of the EMG signals 1 and / or 2 require in the mode. For example, in the gripping mode, the input of the EMG signal 1 may be pinched and the input of the EMG signal 2 may be programmed to extend the finger. Further, when EMG signal 2 is easy to extract while EMG signal 1 is difficult to extract, it is preferable to program to pinch a finger when EMG signals 1 and 2 are simultaneously input. In addition, when the EMG signal 1, which is a finger pinching signal, is input twice in a predetermined time interval, for example, within 2 seconds in the holding mode, it is determined that the thin film is picked up; do. On the other hand, in the game mode, for example, when the EMG signal 1 is input, it is determined as a scissors operation, when the EMG signal 2 is input, it is determined as a motion, and when no signal is input, it is determined as a rocking motion. At this time, the rock motion is a ready motion, and the rock is the reference motion in the game mode as if a person starts rock at the actual rock-paper-scissors. Therefore, after the scissors or beam operation is maintained for a certain time to return to the ready rock.

As described above, a control signal is generated for the joint actuators 30a to 30f constituting the thumb, the detection, and the stop based on the operation determined according to the EMG signals 1 and 2 in the digital controller 124. The actuator control signal Tx is transmitted to the joint actuators 30a to 30f through the serial communication unit 126 (PE1) as shown in FIG. 7. As described above, the joint actuators 30a to 30f are driven in accordance with a control command transmitted from the control device by the motor control unit 50 which is provided with itself, so as to spread or pinch the fingers as a whole. Done. The actuator side status signals Rx such as the swing angle and the voltage and the current according to the driving of the joint actuators 30a to 30f are received by the digital controller 124 through the serial communication unit 126 (PE0).

These operations and modes are displayed on the LED display unit 130 provided in the prosthesis so that the user can easily check the operating state.

FIG. 8 is a flowchart illustrating a method of operation of the present invention, FIG. 9 is a picture showing hand gestures of the myocardium in gripping mode, and FIG. 10 is a picture showing hand gestures in game mode. Now, the operation of the EMG is described in detail with reference to these drawings and all the above-mentioned drawings.

When the device is operated, system initialization is performed while power is supplied to the control device 60, and the threshold T of the EMG signal 1 of the channel 1 and the EMG signal 2 of the channel 2 is set. Then, the EMG signals 1 and 2 are input from the EMG detector 70 attached to the user's arm, and the EMG signal processing unit 110 extracts only the EMG signal through signal amplification and filtering. (Step S5) The control unit 120 compares whether the input EMG signals are equal to or greater than the threshold value T of the corresponding signal, and when the EMG signals 1 and / or 2 of the corresponding channel exist. (Step S7, S9) Also, it is determined whether the selected operation mode is a grip mode or a game mode. (Step S11) In this case, in the grip mode, whether the operation is to catch a large object or to pick up a small and thin object. Judging As a result, the joint actuators are controlled and driven. (Steps S13, S15, and S17) As a result, as shown in FIG. 9, the operation of holding a large object and the operation of picking a thin object are significantly different. . On the other hand, in the game mode, according to the input EMG signal, it determines whether it is a scissors motion, a bow motion or a rock motion, and controls the joint actuators to perform the corresponding motion as shown in FIG. 10. )

11 is a block diagram showing another embodiment of the number of myopia capable of individual control of the finger according to the present invention.

As shown in this embodiment, two joints of the joint actuator 30 'and the other fingers, namely the index finger, middle finger, ring finger, and the base are connected to each other to connect the same number of joints as the real human hand. It can be implemented to move around. The surface of the joint actuators 30 'constituting the five fingers may be manufactured by covering the surface of the joint actuator 30' in the same shape as the corresponding fingers to manufacture the prosthesis closer to the real hand. Connection and operation of such joint actuators are the same as described above with reference to FIGS. 1 to 8, and it will be easily understood with reference thereto, and thus, detailed descriptions thereof will be omitted.

The embodiments disclosed herein are only presented by selecting the most preferred examples to help those skilled in the art from the various possible examples, the technical spirit of the present invention is not necessarily limited or limited only by this embodiment, the present invention Various changes and modifications are possible within the scope without departing from the spirit of the invention, as well as other equivalent embodiments.

As described above, according to the present invention, the number of EMG capable of individual control of a finger is closer to a real hand by detecting two or more EMG signals from an arm of a disabled person and individually controlling fingers having joints according to EMG signals. There is an effect that can implement a free hand gesture.

In particular, the present invention is not only possible to implement a fine pinch movement beyond the simple catch operation by controlling each node of the finger and fingers individually, but also can implement a variety of hand gestures to enjoy a game using hand gestures such as rock-paper-scissors There is an advantage.

Therefore, the present invention not only enables a handicapped person to enjoy a more convenient life, but also can play a game using fingers with other people to reduce alienation from society and contribute to having a job opportunity. .

Claims (13)

In the prosthetic hand worn by a handicapped person performing a hand function, A hand portion formed by connecting the joint actuators constituting the nodes of the fingers with the connecting members so as to pivot with respect to each other, and combining the fingers with a plurality of palms; EMG detector attached to the arm of the disabled to obtain EMG signals; And A control device for individually driving the joint actuators according to the EMG signals detected by the EMG detector to implement various hand gestures, The joint actuator is A motor in which a pinion gear is mounted on the rotating shaft; A gear assembly having a plurality of gears engaged with the pinion gear of the motor, the gear assembly configured to reduce and output the rotational force of the motor; An output shaft pivoted according to the rotational force reduced through the gear assembly and having one end of the connection member coupled thereto; And And a motor control unit which controls the motor in accordance with a control signal of the control device to cause the output shaft to be turned at an indicated direction and angle. The joint actuator of claim 1, wherein the joint actuator has a body shaped like a finger node, and an output shaft exposure part is provided at one side of the body to expose the output shaft coupled to one of the connection members to the outside, and the output shaft exposure part is provided. The other side of the body opposite to the number of the EMG can be controlled individually, characterized in that the engaging portion is coupled to the other coupling member is formed. According to claim 2, The connecting member for connecting the joint actuator and the joint actuator is provided with a first connecting portion coupled to the coupling portion of the joint actuator at one end, the second end is fitted to the output shaft of the joint actuator The number of myocardium that can be individually controlled by the finger, characterized in that the connection portion is provided. According to claim 2, The connecting member for connecting the joint actuator and the palm portion is provided with a first connecting portion fitted to the output shaft of the actuator at one end, the second end is provided with a second coupling portion coupled to the palm portion The number of myopia which can be controlled individually by a finger. The number of arm muscles of claim 1, further comprising an arm portion connected to the hand portion and fitted to an arm of a disabled person. [6] The number of myopia that can be controlled individually by fingers according to claim 5, wherein the hand portion or the arm portion further includes a mode selection switch for the user to select a grip mode and a game mode in relation to a hand motion. . 8. The number of myocardium according to claim 6, wherein an LED display portion for displaying a mode of hand movement and an operation state of the joint actuator is further provided on the hand portion or the arm portion. The EMG detector of claim 6, wherein the EMG detector detects EMG signals of two channels in the arm of a disabled person. The control device An EMG signal processor for amplifying the EMG signals of the two channels and reducing the pressure to process the EMG signals into digital signals; And And a control unit for converting the signal decompressed by the EMG signal processor into a digital signal, and determining the operation of the EMG signal converted into the digital signal under the selected mode to generate the joint actuator control signal. The number of myopia which can control individual finger individually. EMG control device that receives EMG signals of two or more channels detected by the handicapped arm, and controls each finger made by connecting a plurality of joint actuators, each of which is a node of a finger, to be pinched or extended from the palm of the hand as, An EMG signal processor for amplifying and offsetting the EMG signals of the two or more channels, extracting only pure EMG signals, and decompressing the amplified EMG signals to enable digital conversion; A mode selection switch for the user to select an operation mode such as a gripping mode and a game mode related to the hand movement of the myocardium; And The EMG signal outputted from the EMG signal processor is converted into a digital signal, and the EMG signal converted into the digital signal is determined by the operation mode selected under the operation mode selected by the mode selection switch and the angle of rotation of the joint actuators And a control unit for controlling the movement of each node of each finger by controlling the direction. The EMG signal processor of claim 9, wherein the EMG signal processor comprises: A measurement amplifier for measuring EMG signals 1 and 2 of two channels obtained from the arm of a disabled person as a signal voltage relative to a reference voltage; An offset fine adjustment unit for removing a minute DC voltage component (offset voltage) generated while measuring the signal voltage in the measurement amplifier unit from the signal voltage; A main amplifier for amplifying the signal voltage from which the offset voltage is removed to a large voltage; And And a voltage reducing unit for reducing the large signal voltage amplified by the main amplifier to a voltage of 5 V or less. The method of claim 10, wherein the control unit An analog / digital converting unit converting the analog signal voltage decompressed by the voltage reducing unit into a digital signal voltage; A digital controller which determines which operation the EMG signals of the two channels converted into the digital signal voltages are required to output, and outputs a control signal of the joint actuators so that the joint actuators perform a corresponding operation; And And a serial communication unit which transmits a control signal of the digital control unit to the joint actuators. The apparatus of claim 11, further comprising an LED display for displaying the operation mode selected by the mode selection switch and the operation state of the number of myopia. The method of claim 12, wherein the digital control unit The mode selection switch determines whether the operation mode selected by the user is a gripping mode or a game mode, In the gripping mode, when a signal including the EMG signal 1 is input, the finger made of the joint actuators is pinched, and when the EMG signal 2 is input, the finger is stretched, but within a predetermined time, the EMG signal 1 is continuously twice. When input, the action of picking up thin objects is performed, otherwise the action of grabbing large objects is performed. In the game mode, when the EMG signal 1 is input, the fingers perform the scissors operation for a predetermined time, and when the EMG signal 2 is input, the gait operation is performed for a predetermined time, and the scissors operation or the operation is elapsed for a certain time. Or control of the myocardium according to the above, characterized in that it is in a ready rock state if no signal is received.

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