Control and virtualization of a RH8D robotic hand using ROS
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12233Keywords:
Robótica y control, Sistemas biológicos y médicos, Sistemas mecatrónicosAbstract
This work presents the development of a hybrid control system for the RH8D robotic hand (Seed Hand), integrating different forms of human-machine interaction. The system includes hand control from a graphical interface created inMATLAB combined with a myoelectric control system. To achieve this, a distributed architecture supported by ROS is used, enabling efficient and flexible communication between devices and platforms. Furthermore, a digital twin of the hand has been implemented in Unity that replicates the movements of the physical hand in real time based on data received via ROS. This virtualization provides added value to the system, offering remote monitoring and pre-simulation capabilities. The proposal serves as a basis for future developments in the field of virtual training of myoelectric control of robotic prostheses.
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Copyright (c) 2025 Ana María Martínez García, Daniel Sánchez Martínez, Andrés Úbeda Castellanos, Carlos Alberto Jara Bravo, Vicente Morell Giménez
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
