具有握力感觉反馈功能的五自由度假手系统设计

摘要

设计了一种具备握力感觉反馈功能和具有较高灵活度的新型5自由度假手.采用耦合机构设计了假手的5个手指,每根手指分别通过置于手掌内部的一枚直流电机进行独立驱动.嵌入式的控制系统采用基于双数字信号处理器(DSP)的分层结构,在不同控制层中实现肌电信号(EMG)处理,握力感觉反馈,运动控制以及传感器信息处理,提高了实时性和集成度.基于表面电刺激原理设计了电刺激器,并结合力矩传感器构成握力感觉反馈系统,实验表明,该感觉反馈系统能准确地向人体反馈假手握力.%This paper presents a new more dexterous 5-DOF prosthefic hand with the sensory feedback of grasping froce. A coupling mechanism is adoptegt to design its 5 fingers,and each of them is dtiven by a DC motor independently. his makes the hand more dextemus. The embedded hrarchica control system is designed based on the dual digital sigrral processor(DSP) to process electromyogmphy(EMG) signals, feedback the perception of grasping fnrce, realize autonomous control and deal with signals frmn sensors. The sensory feedback sytem is constituted by a torque sensor and a electfical stimulator which is designed based on the principle of stuface electriaal stimulation. The experimen results show that the sensory feedback system provides the perception of grasping force to the human bray accurately.