仿生假手双向生机接口系统及交互控制的分析

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1、AbstractAlthoughprosthetichandsavailablenowarecapabletomimicthehumanhandintennsofappearanceandmotionmodes,theinteractivecontrolofartificialhandsisfarfrombeingperfect.Userscanneithercontroltheprosthetichandsreliablynorreceivefeedbackfromtheprosthetichandsint

2、uitively.Tosolvetheproblems,aninteractivecontrolstrategyisproposedwithanovelmyoelectriccontrolapproachandelectrocutaneousstimulationfeedback.Thecontentsofthispaperinclude:themyoelectriccontrolsystembasedontheknowledgeofgrasptaxonomyandtheprincipleofFiniteSt

3、ateMachine(SFM),themulti-channelbiphasicelectrocutaneousstimulatorbasedonthetechnologyofTranscuataneousElectricalNerveStimulation(TENS)andDirectDigitalSynthesizer(DDS),andthestimulationnoiseabatingmethodbasedonthealgorithmofLeastMeanSquareadaptivefilterOver

4、viewsaboutnewlydevelopedbidirectionalinterfacesandinteractivecontrolmethodsofanthropomoiphicprosthetichandsaregivenindetails.Thentheoverallmethodologyisestablished,whichinterpretusers1controlintentionviasurfaceElectromyogram(sEMG)signalsandtransmitthesensor

5、informationtousersviaelectrocutaneousstimuli.Thepatternrecognitionmethod,acommonlyusedmethodtodecodetheuser'scontrollingintentionfromsEMGsignals,needsanumberofactivemusclesandcanbeeasilyaffectedbythevariationsofelectrode-skininterfaceandmusclefatigue.Toover

6、cometheshortcomingsofthepatternrecognitionmethod,anovelcontrolmethodbasedontheknowledgeofgrasptaxonomyandtheprincipleofFiniteStateMachine(SFM)isproposed.Thevalidationexperimentsshowedthat,themethodcanaccomplishthecombinedpositionandforcecontrolof85%ofhumanh

7、andgesturesinactivitiesofdailylife(ADLs)withonepairofagonist/antagonistmuscles.Thewholegraspingprocesswascompletedwithshorttimeandhighsuccessrate.Toeliminatetheinconveniencecausedbythelackofsensoryfeedback,anovelmulti-channelstimulatorbasedonthetechnologyof

8、TENS,DDSandbiphasicvoltage-controlledcurrentsourcecircuitisproposed.Toverifyitsfunction,experimentsofdifferentstimulationtypesandstimulationparameterswereperformed.ToclearupthenoisecausedbytheTENS,anov