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首页> 外文会议>2014 5th IEEE RAS amp; EMBS International Conference on Biomedical Robotics and Biomechatronics >Hand prosthesis prototype controlled by EMG and vibrotactile force feedback
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Hand prosthesis prototype controlled by EMG and vibrotactile force feedback

机译：由EMG和动触觉力反馈控制的手部修复体原型

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摘要

In the last 30 years very innovative prosthetic hands have been developed. Nevertheless, most of prosthetic hands are basically simple grippers with one or two degrees of freedom (DOFs) providing low functionality. Efforts have been made to improve the performance of devices so that they are as similar as possible with the human hand by exploring recent progresses in mechatronics technology. A major challenge in the development of prosthetic hands with a greater number of DOFs and, consequently, better functionality is to unite the entire system in a compact and lightweight design, besides provide some sensorial information to the amputee. The goal of this work is to develop a prosthesis concept which brings several advantages such as: lightweight, low energy consumption, reduction in volume, simple control and flexibility. In addition, the system is able to provide prehension force feedback. The mechanical design of a finger is described, which composes an artificial hand prototype of two active fingers, with three DOFs each one, and a static thumb. A force sensor provides feedback to the user through mechanical vibrations, ensuring greater safety to grasp an object. Also, a myoelectric control is implemented such that amputees are able to control their artificial limbs in a more natural way.
机译：在过去的30年中，已经开发出非常新颖的假肢手。尽管如此，大多数假肢手基本上都是简单的抓手，具有一两个自由度（DOF），功能低下。通过探索机电一体化技术的最新进展，人们已经在努力提高设备的性能，以使其与人的手尽可能相似。开发具有更多自由度的假手并因此获得更好的功能的主要挑战是，除了向被截肢者提供一些感官信息外，还要将整个系统组合成紧凑轻便的设计。这项工作的目的是开发一种假体概念，该假体概念具有以下优点：重量轻，能耗低，体积小，控制简单且具有灵活性。另外，该系统能够提供力量反馈。描述了一种手指的机械设计，它由两个活动手指的人造手原型组成，每个活动手指分别具有三个自由度和一个静态拇指。力传感器通过机械振动向用户提供反馈，从而确保抓握物体的安全性更高。而且，实施了肌电控制，使得截肢者能够以更自然的方式控制其假肢。

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