Experimental analysis of an innovative prosthetic hand with proprioceptive sensors
Experimental analysis of an innovative prosthetic hand with proprioceptive sensors
复制标题
带有本体感觉传感器的创新假手的实验分析
DOI：
10.1109/robot.2003.1241925
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
P. Dario
中科院分区：
文献类型：
--
作者：
M. Carrozza;F. Vecchi;F. Sebastiani;G. Cappiello;S. Roccella;M. Zecca;R. Lazzarini;P. Dario
本文提出了一种欠驱动的人工手，旨在用于替代上肢截肢者的自然手。自然手具有三种基本功能：抓握、操纵和探索。为了通过植入假手来实现恢复这些能力的目标，需要两个基本步骤：开发配备人工本体感觉和外感受传感器的假手，并制造能够与截肢者的身体和中枢神经系统交换感觉运动信号的适当接口。为了实现这些目标，我们根据仿生方法研究了欠驱动手，并利用机器人和微工程技术来设计和制造其构建块。手的架构包括以下模块：嵌入欠驱动机械结构中的执行器系统（人工肌肉骨骼系统）、本体感觉系统（位置和力传感器）、外感感觉系统（分布在化妆手套上的3D力传感器）、嵌入式控制单元和人机界面。第一个假手原型已经设计并制造出来。手部驱动不足，并配备有相对的拇指和本体感觉系统。本文介绍了手的制造和实验表征，重点关注机械结构、执行器系统和本体感觉系统。
This paper presents an underactuated artificial hand intended for functional replacement of the natural hand in upper limb amputees. The natural hand has three basic functionalities: grasping, manipulation and exploration. To accomplish the goal of restoring these capabilities by implanting an artificial hand, two fundamental steps are necessary: to develop an artificial hand equipped with artificial proprioceptive and exteroceptive sensors and to fabricate an appropriate interface able to exchange sensory-motor signals with the amputee's body and the central nervous system. In order to address these objectives, we have studied an underactuated hand according to a biomimetic approach, and we have exploited robotic and microengineering technologies to design and fabricate its building blocks. The architecture of the hand comprises the following modules: an actuator system embedded in the underactuated mechanical structure (artificial musculoskeletal system), a proprioceptive sensory system (position and force sensors), an exteroceptive sensory system (3D force sensors distributed on the cosmetic glove), an embedded control unit, and a human/machine interface. The first prototype of the artificial hand has been designed and fabricated. The hand is underactuated, and is equipped with opposable thumb and a proprioceptive sensory system. This paper presents the fabrication and experimental characterization of the hand, focusing on the mechanical structure, the actuator system and the proprioceptive sensory system.