Myoelectric prosthetic hands are intended to replace the function of the amputee's lost arm. Therefore, developing robotic prosthetics that can mimic not only the appearance and functionality of humans but also characteristics unique to human movements is paramount. Although the impedance model was proposed to realize biomimetic control, this model cannot replicate the characteristics of human movements effectively because the joint angle always converges to the equilibrium position during muscle relaxation. This paper proposes a novel biomimetic control method for myoelectric prosthetic hands integrating the impedance model with the concept of the $\lambda$-type muscle model. The proposed method can dynamically control the joint equilibrium position, according to the state of the muscle, and can maintain the joint angle naturally during muscle relaxation. The effectiveness of the proposed method is evaluated through simulations and a series of experiments on non-amputee participants. The experimental results, based on comparison with the actual human joint angles, suggest that the proposed method has a better correlation with the actual human motion than the conventional methods. Additionally, the control experiments showed that the proposed method could achieve a natural prosthetic hand movement similar to that of a human, thereby allowing voluntary hand opening and closing movements.

翻译：因此,开发机器人假肢不仅可以模仿人类的外貌和功能,而且可以模仿人类运动特有的特征,这是至高无上的。虽然提出阻碍模型是为了实现生物模拟控制,但这一模型无法有效地复制人类运动的特征,因为联合角度总是与肌肉放松期间的平衡状态相匹配。本文建议对近光假肢采用一种新的生物模拟控制方法,将阻力模型与$\lambda$型肌肉模型的概念相结合。拟议方法可以动态地控制联合平衡位置,根据肌肉状态,并能够在肌肉放松期间自然地保持联合角度。拟议方法的有效性通过模拟和一系列对非激励参与者的实验加以评估。根据与实际人类联合角度的比较,实验结果表明,拟议方法与实际人类运动的关系比常规方法要好。此外,控制实验表明,拟议方法可以实现类似于人的自然假手运动,从而允许自愿打开和关闭手。