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首页> 外文期刊>The Open Biomedical Engineering Journal >Introduction and Testing of an Alternative Control Approach for a Robotic Prosthetic Arm
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Introduction and Testing of an Alternative Control Approach for a Robotic Prosthetic Arm

机译：机器人假肢替代控制方法的介绍和测试

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Commercially available robotic prosthetic arms currently use independent joint control. An alternative controller involving only control of the hand in a Cartesian frame rather than controlling each joint independently is proposed and tested. An experimental 4DOF robotic arm was used as the platform for testing the proposed control approach. As opposed to joint control, Cartesian control requires the solution to the inverse kinematics problem. The inverse kinematics solution was developed for the robotic arm using the extended Jacobian method. The two control methodologies, joint control and Cartesian control, were tested on five able-bodied human subjects. Improvement of one control methodology over the other was measured by the time it took for the subjects to complete a simple motor task. The timed trial results indicated that Cartesian control was both more intuitive and more effective than joint control. So, the results suggest that much improvement can be achieved by using the proposed Cartesian control methodology.
机译：市售的机器人假肢目前使用独立的关节控制。提出并测试了一种替代控制器，该控制器仅涉及在笛卡尔坐标系中控制手部而不是独立控制每个关节。实验的4DOF机械臂被用作测试所提出的控制方法的平台。与关节控制相反，笛卡尔控制需要解决逆运动学问题。使用扩展的Jacobian方法为机器人手臂开发了逆运动学解决方案。在五个健全的人类受试者上测试了两种控制方法，即联合控制和笛卡尔控制。通过受试者完成一项简单的运动任务所花费的时间来衡量一种控制方法相对于另一种控制方法的改进。定时试验结果表明，笛卡尔控制比联合控制更直观，更有效。因此，结果表明通过使用提出的笛卡尔控制方法可以实现很多改进。

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