具有触觉临场感和肌电仿生控制功能的遥控机械手研究 - 机器人.pdf

31 3 ROBOT Vol.31, No.3 2009 5 May, 2009 1002-0446(2009)-03-0270-06 310018 EMG AR PVDF TP241.2 A A Tele-manipulator with Tactile Tele-presence and Myoelectric Bionic Control XI Xu-gang LUO Zhi-zeng (Intelligent Control Robotics Institute, Hangzhou Dianzi University, Hangzhou 310018, China) Abstract: This paper presents a method that controls the tele-manipulator by combining tactile tele-presence with myo- electric bionic control. Surface electromyography (SEMG) is collected from the forearm. Motion patterns of the hand are recognized from SEMG by autoregressive (AR) model and Bayes taxonomy, and the tele-manipulator is controlled to perform the corresponding movement. The tactile and slip sensor using PVDF (polyvinylidene fluoride) as sensitive material is fitted on the tele-manipulator finger. When the tele-manipulator is holding or touching an object, the tactile and slip signals are created and then transformed into electrical stimuli which stimulate the operator, hence the tactile tele-presence is achieved. The operator can control the motion of his hand with tactile tele-presence. Experimental results indicate that the method can improve the bionic controllability of tele-manipulator. Keywords: tele-manipulator; tele-presence; surface electromyography (SEMG); tactile sensor 1 Introduction