手指运动姿态检测及假肢手指动作实时控制

设计了一种通过实时检测手指关节弯曲角度控制假肢手指动作的实验系统.系统主要由手指运动姿态实时检测、关节角度分析、控制与驱动电路、欠驱动机电假肢手4部分组成,假肢手包含拇指、食指、中指3个独立动作的手指；利用加速度传感器ADXL330实时检测手指运动姿态信息,由DSPTMS320F2812微处理器实时检测手指关节运动的瞬时角度变化并进行PWM脉冲编码,控制步进电机运动以驱动假肢手指关节转动.并分别对加速度传感器检测手指运动和假肢手指动作实时控制进行了实验测试；实验结果表明,系统采用的加速度传感器ADXL330能实时检测手指运动姿态,利用手指关节角度信息能有效驱动假肢手指屈伸,并通过三指配合完成抓握动作.

Finger gesture detection and its application to real-time control of prosthetic finger movements

A DSP-based experimental system with real-time finger joint angle detection and prosthetic finger control is designed here. The prototype system is mainly composed of four parts: real-time finger posture detection, joint angle analysis, control pulse encode, and underactuated prosthetic hand with three individually active fingers, i.e. thumb, index finger and middle finger. The real-time finger joint movement is detected by acceleration sensor ADXL330, and the microprocessor DSPTMS320F2812 is used to collect the output of acceleration sensor and calculate angle changes of the finger joint instantaneously. Then, the angle changes are encoded to PWM pulse sequence to control the stepper motor, which drove the rotation of prosthetic finger joint. Preliminary tests are given to multi-finger motion detection and real-time prosthetic finger control, respectively. The experimental results show that the acceleration sensor ADXL330 can be used to reliably detect the gesture of finger movements, it can effectively drive flexion movement and extension movement of prosthetic finger, and the grip action can be completed with the coordination of thumb, index finger, and middle finger.