Development of Underactuated Prosthetic Fingers with Joint Locking and Electromyographic Control
Development of Underactuated Prosthetic Fingers with Joint Locking and Electromyographic Control
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具有关节锁定和肌电图控制的欠驱动假肢手指的开发
DOI：
10.5539/mer.v3n1p130
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
S. Misra
中科院分区：
文献类型：
--
作者：
B. Peerdeman;S. Stramigioli;E. Hekman;D. Brouwer;S. Misra
现代假手具有大量的自由度。这些自由度不能简单地由单个电机驱动，因为它们的组合尺寸和重量将超过拟人假肢的限制。一些手假体试图通过手指的欠驱动或添加完全被动的手指来补救这一点，但这降低了手执行不同抓握类型的能力。我们提出了一个联合锁定系统，允许一定程度的自由度被固定在致动的欠驱动的手指。这些锁由微型手柄驱动，并允许手指支持各种抓取类型。在本文中，这些锁实现在一个两指假肢原型，这是能够执行几个重要的假肢用户抓运动。该原型由预先记录的肌电信号控制，该肌电信号控制不同的抓握类型及其打开/关闭。各种抓取实验表明，原型是能够执行三个基本的抓持类型的日常生活与一个单一的主致动器，并可以直观地控制通过六个不同的肌电信号。这个原型展示了新的关节锁定机制和控制系统，可以提供一个拟人的，肌电手假肢与最小的驱动和直观的控制。
Modern hand prostheses possess a large number of degrees of freedom. These degrees of freedom cannot simply be actuated by a single motor each, since their combined size and weight would exceed the limitations of an anthropomorphic prosthesis. Some hand prostheses try to remedy this by way of underactuation of the fingers or addition of entirely passive fingers, but this reduces the hand's ability to execute different grasp types. We present a joint locking system, allowing certain degrees of freedom to be fixed during actuation of an underactuated finger. These locks are actuated by miniature solenoids, and allow the fingers to support a variety of grasp types. In this paper, these locks are implemented in a two-fingered prosthesis prototype, which is able to perform several grasping motions important for prosthesis users. This prototype is controlled by pre-recorded electromyographic signals, which control different grasp types and their opening/closing. Various grasping experiments show that the prototype is able to execute three essential grasp types for daily living with a single main actuator, and can be intuitively controlled by means of six different electromyographic signals. This prototype demonstrates new joint locking mechanisms and control systems that can provide an anthropomorphic, myoelectric hand prosthesis with minimal actuation and intuitive control.