用肌电信号实时控制虚拟机械手臂.pdfVIP

用肌电信号实时控制虚拟机械手臂 ———李醒飞 　史 　颖 　杨晶晶等 用肌电信号实时控制虚拟机械手臂 李醒飞 　史 　颖 　杨晶晶　张国雄 　卢志扬 天津大学精密测试技术及仪器国家重点实验室 ,天津 ,300072 摘要 :研究了利用肌电信号来实时控制机械手的运动 。采集人体上肢在垂直面上做屈伸 运动时的肱二头肌和肱三头肌的肌电信号及关节角度信号 ,将经过处理的肌电信号和时间信 号输入到一个神经网络预测器来预测关节角度 。将预测的关节角度作为虚拟机械手的控制信 号 ,控制机械手做与人相同的运动 。试验结果显示 ,机械手的运动轨迹与人的上肢肘关节角轨 迹的最大均方差小于 2°,且具有很强的相关性 ,实现了肌电信号控制虚拟机械手的动画显示 。 ( ) 关键词 :肌电信号 EM G ;肘关节角 ;机械手 ;神经网络 ( ) 中图分类号 : T H2 1 ;Q8 11. 8 　　　文章编号 :1004 —132X 2006 02 —0 187 —04 Real - Time Controll ing Virtual Manipulator Using EM Gs Li Xin gf ei 　Shi Ying 　Yan g J ingj in g 　Zhang Guo xio ng 　L u Zhiyang The St at e Key L aboratory of Preci se Mea surin g Technolo gy an d In st rument atio n , Tianj in U niver sit y , Tianj in , 300072 Abstract : The obj ective of t hi s st udy wa s to cont rol manip ulator in real - time by u sing EM Gs. EM Gs were collect ed f ro m t he bicep s an d t ricep s mu scle s of nor mal subj ect s w hen t hey moved t heir el bow flexion - ext en sion . The raw EM G signal s were p roce ssed . A t hree - layer feed - forwar d neural net wor k mo del wit h t he p roce ssed EM Gs a s it s inp ut s wa s develop ed , t he weight ed value s of t he mo d el were op timized wit h t he adj u st ed back - p rop agation algorit hm . By t raining t he mo del can map t he t ran sfor mation , f ro m t he p roce ssed EM G signal s to t he elbow j oint an gle s. The p redict ed an gle s were u sed to cont rol t he manip ulator by inver se - cont rol met ho d . The an gle s of t he manip ulator were co m p ared wit h t hat of t he elbow j oint . The exp eriment al re sult s show t hat t he root mean square error be t ween t he j oint an gle of t he man