| 罗志增,李文国.两自由度实时控制肌电假手的研究[J].中国康复医学杂志,2009,24(4):355~358 |
| 两自由度实时控制肌电假手的研究 点此下载全文 |
| 罗志增 李文国 |
| 杭州电子科技大学智能控制与机器人研究所,杭州， 310018 |
| 基金项目：863项目（2008AA04Z212）；国家自然科学基金（60874102） |
| DOI： |
| 摘要点击次数: 3098 |
| 全文下载次数: 2271 |
| 摘要： |
| 目的：针对手部缺失的残疾人佩戴电动假手的需要，研制一种实时控制两个自由度的肌电假手。方法：通过采集三路残疾人自身残臂上的表面肌电信号，应用简单的信号能量作为特征值，并通过二叉决策树的模式分类方法识别得到手部两个自由度5个动作模式，由单片机构成的信号处理和控制电路实现了两自由度电动假手的实时仿生控制。结果和结论：基于肌电信号的两自由度电动假手响应速度快，动作可靠，具有良好的操控性和适应能力。 |
| 关键词：表面肌电信号 电动假手 仿生控制 |
| A design of two-freedom EMG artificial hand with real-time control Download Fulltext |
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| Robotics Research Institute， Hangzhou Dianzi University， Hangzhou， 310018 |
| Fund Project: |
| Abstract: |
| Objective: In order to satisfy the disabled with hand defect wearing electric artificial hand, a design of two-freedom artificial hand with real-time control is proposed. Method:In this design, three-channel surface electromyographic signals are acquired from the amputee stump, then, the signal energy is used for the feature value, and five motion patterns of hand are identified by using the pattern classification of binary tree. Result: The signal processing and control circuit is composed of Single-Chip computer achieving the real-time bionic control of two-freedom electric artificial hand. Conclusion: The experimental results indicate that the two-freedom electric artificial hand which based on electromyography has fast response, reliable motions, and good manipulation and adaptive ability. |
| Keywords:surface electromyography electric artificial hand bionic control |
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