Design and Functional Evaluation of a Dexterous Myoelectric Hand Prosthesis With Biomimetic Tactile Sensor
Design and Functional Evaluation of a Dexterous Myoelectric Hand Prosthesis With Biomimetic Tactile Sensor
复制标题
仿生触觉传感器灵巧肌电假手的设计与功能评估
DOI：
10.1109/tnsre.2018.2844807
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发表时间：
2018-07-01
影响因子：
4.9
通讯作者：
Liu, Hong
中科院分区：
文献类型：
--
作者：
Zhang, Ting;Jiang, Li;Liu, Hong
本文介绍了一种新的灵巧肌电假手的设计、触觉传感器、表征和控制系统，以克服最先进的肌电假手的局限性（例如，有限的功能性、可控性和感觉反馈）。我们灵巧的肌电手允许独立的手指运动和拇指外展/内收，每个手指有一个电机，拇指有一个额外的电机（即，总共六个马达）。每个指尖都有一个由13个触觉单元组成的仿生触觉传感器，每个单元都可以检测法向力和切向力。手控制器使用肌电图模式识别控制器和触觉传感器反馈为基础的抓取控制器，以自动和动态地调整手指的把握力，以防止物体打滑。这种闭环控制器结构将允许用户安全有效地抓取具有不同密度和形状的复杂物体。此外，电子硬件集成到手，模式识别控制器可以在手嵌入式系统中实现。
This paper presents the design, tactile sensor, characterization, and control system of a new dexterous myoelectric hand prosthesis to overcome the limitations of state-of-the-art myoelectric prostheses (e.g., limited functionality, controllability, and sensory feedback). Our dexterous myoelectric hand allows independent finger movement and thumb abduction/adduction, with a motor for each finger and an additional motor for the thumb (i.e., six total motors). Each fingertip has a biomimetic tactile sensor with 13 tactile units, each of which can detect normal and tangential forces. The hand controller uses an electromyography pattern recognition controller and a tactile sensor feedback-based grasping controller to automatically and dynamically adjust the finger grasp force to prevent objects from slipping. This closed-loop controller structure will allow users to safely and effectively grasp complex objects with varying densities and shapes. In addition, the electronic hardware is integrated into the hand, and the pattern recognition controller can be implemented in the hand embedded system.