摘要
探讨了智能假肢手生机电集成的关键问题,包括与生机接口功能匹配的灵巧操作机构设计、假肢本体的机电集成、假肢与人体的物理集成界面、双向生机接口集成等.然后,研究了驱动内置型智能假肢手指的集成化设计方法,该手指具有3维力触觉、力矩和位置感知功能,且传感器、驱动器和控制器均集成在手指内部.针对神经控制通道与感知反馈通道间的干扰,结合电刺激对肌电信号(EMG)的干扰模型,提出了基于双相电刺激和自适应滤波的干扰抑制方法.实验验证了该方法的有效性.
The key problems of biomechatronic integration for intelligent prosthetic hands are discussed, including the design of dexterous manipulation mechanism matching the function of bio-machine interface, the mechatronic integration of prosthetic hand body, human-machine physical interface, and integration of bidirectional bio-machine interface. Then the integrated design of intelligent prosthetic finger with internal actuator is presented. The finger features three-dimensional force tactile sensing, torque sensing and position sensing, and the actuator, sensors and controller are all integrated inside the finger. For the interference between control channel and feedback channel of bidirectional bio-machine interface, the interference suppression methods based on two-phase electric stimulation and adaptive filtering are presented according to the model of electric stimulation interference on electromyographic signals. The experimental results verify the effectiveness of the methods.
出处
《机器人》
EI
CSCD
北大核心
2017年第4期387-394,共8页
Robot
基金
国家973计划(2011CB013306)
教育部博士点基金(20132302110034)
关键词
智能假肢手
生机电一体化
集成
生机接口
电刺激
intelligent prosthetic hand
biomechatronics
integration
bio-machine interface
electric stimulation
