基于肌肉电信号控制的假肢用机械手的设计

介绍了一种灵巧机械手的设计和控制,这种机械手可以作为多功能的上肢假肢.此机械手包含了手和手腕的设计.它的手部可以完成四种抓取模式(握,捏,侧握,侧捏),腕部可以屈曲和旋转.所有的这些动作仅有四个电机来控制.在尺寸优化的基础上,建立了食指的运动学模型并求出了食指运动学的正解和逆解.从而为进一步研究机械手的轨迹规划和控制问题提供了理论依据.最后,简要描述了肌肉电信号的产生以及如何利用肌肉电信号来控制该假肢的运动.

EMG-Based Design of Mechanical Hand Prosthesis

Presents the mechanical design and kinematics analysis of a dextrous robot hand to develop multifunctional upper limb prosthesis. The design of robot hand includes the palm, fingers and wrist. It can do four grasping models (gripping, pinching, lateral gripping and lateral pinching), and the wrist can bend and rotate. All the movements are controlled just by four actuators or motors. Based on the optimization of forefinger size, an individual kinematics model of forefinger is developed with both normal and inverse solutions given to it. In this way a theoretical reference is provided for the further study on prosthetic hand's trajectory planning and controls. The formation of EMG and how to use the EMG to control the robot hand's movements are briefly discussed.