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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Slippage and Deformation Preventive Control of Bionic Prosthetic Hands
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Slippage and Deformation Preventive Control of Bionic Prosthetic Hands

机译：仿生假肢的滑移和变形预防控制

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摘要

A proper grasping force is very difficult to obtain for a prosthetic hand due to a lack of detailed sensory feedback information. When the applied grasping force is too small, a heavy object may slip, whereas an overly large applied force may deform soft objects. This paper presents a bionic reflex control system designed to reconstruct the humanoid reflex control function for a prosthetic hand. First, a dynamical model of an underactuated tendon-driven prosthetic hand is obtained using the Lagrange method. Next, a force-sensing resistor sensor is adopted in the control loop to detect slippage based on empirical mode decomposition. Then, a polyvinylidene fluoride sensor is introduced into the control system to estimate the stiffness of an object, which is employed for modifying the initial desired grasping force to avoid deformation. The performance of the proposed bionic reflex control system is investigated through a series of experiments, the results of which successfully demonstrate its effectiveness, and verify that the grasping capability of a prosthetic hand is thereby improved.
机译：由于缺少详细的感官反馈信息，很难为假手获得适当的抓握力。当施加的抓力太小时，重物可能会打滑，而施加的力过大可能会使软物变形。本文提出了一种仿生反射控制系统，旨在重建假手的类人动物反射控制功能。首先，使用拉格朗日方法获得欠驱动的腱驱动假肢的动力学模型。接下来，在控制回路中采用力感测电阻器传感器，以根据经验模式分解检测滑移。然后，将聚偏二氟乙烯传感器引入控制系统以估计物体的刚度，该物体用于修改初始所需的抓握力以避免变形。通过一系列实验研究了拟议的仿生反射控制系统的性能，其结果成功证明了其有效性，并证明由此提高了假手的抓握能力。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2017年第2期|888-897|共10页
  • 作者

    Hua Deng; Guoliang Zhong; Xuefeng Li; Wen Nie;

  • 作者单位

    School of Mechanical and Electrical Engineering, and the State Key Laboratory of High-Performance Complex Manufacturing, Central South University, Changsha, China;

    School of Mechanical and Electrical Engineering, and the State Key Laboratory of High-Performance Complex Manufacturing, Central South University, Changsha, China;

    China Nuclear Power Engineer Co., Ltd., Shenzhen, China;

    School of Mechanical and Electrical Engineering, and the State Key Laboratory of High-Performance Complex Manufacturing, Central South University, Changsha, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Grasping; Prosthetic hand; Force; Thumb; Mathematical model; Control systems;

    机译：抓握;假肢;力;拇指;数学模型;控制系统;

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