Design of a cybernetic hand for perception and action.
Design of a cybernetic hand for perception and action.
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DOI：
10.1007/s00422-006-0124-2
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发表时间：
2006-12
影响因子：
1.9
通讯作者：
Cipriani, C.
中科院分区：
文献类型：
--
作者：
Carrozza, M. C.;Cappiello, G.;Micera, S.;Edin, B. B.;Beccai, L.;Cipriani, C.
开发新的假手装置的强烈动机是由这样一个事实提供的，即低功能性和易操作性-除了外观差-是截肢者不经常使用他们的假手的最重要原因。本文介绍了CyberHand的设计，一个控制论拟人化的手，旨在为截肢者提供功能的手替代。它的设计在其模块化架构、物理外观、运动学、传感器和驱动以及多级控制系统方面都受到了生物启发。它的欠驱动机制允许单独控制每个手指以及拇指-手指对置，因此可以产生多种抓握。它的感觉系统被设计为提供本体感受信息，以及模仿人类触觉机械感受器的基本功能特性，这些特性对于抓握和保持任务特别重要。CyberHand控制系统假定只有几个传出和传入通道，并分为两个主要层：一个高级控制，解释用户的意图（抓握选择和所需的力水平），并可以提供相关的感觉反馈和一个低级控制，负责驱动特定的抓握，并通过利用智能机制施加所需的总力。高级控制器提供的抓握包括日常生活活动的基本抓握：圆柱形、球形、三指（三脚架）和侧向抓握。CyberHand的模块化和灵活的设计使其适合于传感、接口和控制策略的增量开发，因此，它不仅是临床研究的有用工具，也是解决感觉运动控制神经科学假设的有用工具。
Strong motivation for developing new prosthetic hand devices is provided by the fact that low functionality and controllability—in addition to poor cosmetic appearance—are the most important reasons why amputees do not regularly use their prosthetic hands. This paper presents the design of the CyberHand, a cybernetic anthropomorphic hand intended to provide amputees with functional hand replacement. Its design was bio-inspired in terms of its modular architecture, its physical appearance, kinematics, sensorization, and actuation, and its multilevel control system. Its underactuated mechanisms allow separate control of each digit as well as thumb–finger opposition and, accordingly, can generate a multitude of grasps. Its sensory system was designed to provide proprioceptive information as well as to emulate fundamental functional properties of human tactile mechanoreceptors of specific importance for grasp-and-hold tasks. The CyberHand control system presumes just a few efferent and afferent channels and was divided in two main layers: a high-level control that interprets the user’s intention (grasp selection and required force level) and can provide pertinent sensory feedback and a low-level control responsible for actuating specific grasps and applying the desired total force by taking advantage of the intelligent mechanics. The grasps made available by the high-level controller include those fundamental for activities of daily living: cylindrical, spherical, tridigital (tripod), and lateral grasps. The modular and flexible design of the CyberHand makes it suitable for incremental development of sensorization, interfacing, and control strategies and, as such, it will be a useful tool not only for clinical research but also for addressing neuroscientific hypotheses regarding sensorimotor control.
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影响因子：
4.6
作者：
Cavallaro, E;Micera, S;Sinkjær, T
通讯作者：
Sinkjær, T
DOI：
10.1109/tcsi.2004.839532
发表时间：
2005-01-01
影响因子：
5.1
作者：
Chang, DY;Ahn, GC;Moon, UK
通讯作者：
Moon, UK
影响因子：
4.6
作者：
Cranny, A;Cotton, DPJ;White, NM
通讯作者：
White, NM
影响因子：
2.5
作者：
Dhillon, GS;Krüger, TB;Horch, KW
通讯作者：
Horch, KW
影响因子：
2.5
作者：
Ehrsson, HH;Fagergren, A;Forssberg, H
通讯作者：
Forssberg, H