Comparative Efficacy of Fixed and Adaptive Torque Modulation in Low-Cost Myoelectric Grasping

Overview

Electromyography (EMG) is commonly used to control prosthetics, but many systems rely on fixed joint displacement control that do not adapt grip force to object properties, often leading to object slip or excessive force. Adaptive torque control, which controls motor output based on EMG signal amplitude, may improve grasp stability by better matching grip force to user intent and object characteristics. However, the performance differences between fixed torque and adaptive torque control remain underexplored in small-scale, lower-cost prosthetics. The objective of this project was to compare fixed displacement EMG control with adaptive displacement EMG control in a prosthetic hand during object grasping tasks. A prosthetic hand controlled by surface EMG was tested under two conditions: fixed displacement per EMG activation and adaptive displacement proportional to EMG amplitude. Multiple objects with varying mass and material were grasped across repeated trials. EMG signals, motor commands, and motor current were logged, while grasp outcomes were logged through manual notes. EMG features and motor performance metrics were extracted for analysis. Results showed that adaptive torque control generally reduced object slip and improved grasp stability for heavier or low-friction objects compared to fixed displacement control. Fixed displacement control showed higher failure rates, particularly for more rigid and heavy objects, while adaptive control maintained a higher level of compliance. These findings suggest that adaptive displacement control can enhance prosthetic grasp performance by more closely aligning grip force with user intent.

Competition history

• CSEF 2026 Electronics & Electromagnetics (Senior Division) · Entry S-10-17

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