Development of a Powered Prosthesis with Hybrid Interface for Precision and Powered Grasp Function

肌电控制和鲍登绳索控制系统是上肢假肢两种主要的终端设备控制方法。我们的目标是提出一种由肌电控制和Bowden绳索控制组成的混合控制器，用于开发多功能上肢假体，以提高其可工作性。为了研究肌电和鲍登绳索控制方法的功能，确定新型控制器的性能指标，通过实验测量了抓取力的可调性。在实验中，测量了完整手、肌电控制假手和Bowden缆索控制钩式终端装置的抓取力的时间轴。通过设定时间、重复抓取次数、最大握力与目标力的比值3个指标对10名受试者的数据进行评价。根据分析的均值和偏差讨论了设计规范的准则，并对混合控制器的数字机构设计和样机的发展进行了展望。并将抓持力控制实验与预先采集的数据进行了比较。建立动力抓取与精密抓取并存的人机一体化界面

Myoelectric control and Bowden cable control system are the 2 major terminal device control method for the upper limb prosthesis. Our objective is to propose a hybrid controller composed of the myoelectric control and Bowden cable control for developing a multifunctional upper limb prosthesis to enhance the workability. To investigate the functionality of the myoelectric and Bowden cable control methods and determine the specification of the new controller, the adjustability of prehension force is measured through experiment. In the experiment, prehension force is measured in timeline for the intact hand, myoelectric controlled prosthetic hand, and Bowden cable controlled hook-type terminal device. Data collected from 10 subjects are evaluated by 3 indices: setting time, number of regripping repetition, and ratio of the maximum gripping force to the target force. The criteria of the design specification are discussed based on the mean and deviation of the analysis, and the development of the hybrid controller’s digit mechanismdesign and prototyping are forwarded. The experiments on prehension force control are compared with the pre-collected data. A human-mechatronics interface for coexisting powered and precision grasp is to be established