仿生假手双向生机接口系统及交互控制的分析-analysis of bionic prosthetic hand bidirectional vital interface system and interactive control.docxVIP

AbstractAlthough prosthetic hands available now are capable to mimic the human hand in terms of appearance and motion modes, the interactive control of artificial hands is far from being perfect. Users can neither control the prosthetic hands reliably nor receive feedback from the prosthetic hands intuitively. To solve the problems, an interactive control strategy is proposed with a novel myoelectric control approach andelectrocutaneous stimulation feedback. The contents of this paper include ： themyoelectric control system based on the knowledge of grasp taxonomy and the principle of Finite State Machine (SFM), the multi-channel biphasic electrocutaneous stimulator based on the technology of Transcuataneous Electrical Nerve Stimulation (TENS) and Direct Digital Synthesizer (DDS), and the stimulation noise abating method based on the algorithm of Least Mean Square adaptive filter.Overviews about newly developed bidirectional interfaces and interactive control methods of anthropomorphic prosthetic hands are given in details. Then the overall methodology is established, which interpret users control intention via surface Electromyogram (sEMG) signals and transmit the sensor information to users via electrocutaneous stimuli.The pattern recognition method , a commonly used method to decode the users controlling intention from sEMG signals, needs a number of active muscles and can be easily affected by the variations of electrode-skin interface and muscle fatigue. To overcome the shortcomings of the pattern recognition method, a novel control method based on the knowledge of grasp taxonomy and the principle of Finite State Machine (SFM) is proposed. The validation experiments showed that, the method can accomplish the combined position and force control of 85% of human hand gestures in activities of daily life (ADLs) with one pair of agonist/antagonist muscles. The whole grasping process was completed with short time and high success rate.To eliminate