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Myoelectricity artificial hand grip strength controlling method based on fuzzy controller

A fuzzy controller and control method technology, applied in the field of myoelectric prosthetic hand grip control, can solve problems such as easy deformation, difficulty in adapting to normal life, and inaccessibility of disabled people, so as to avoid damage to items, restore normal life, and pick up items Fast and Flexible Effects

Inactive Publication Date: 2011-11-02
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

[0002] Although myoelectrically controlled prosthetic hands have appeared for many years, how to solve the problem of controlling the clamping force of the mechanical prosthetic hand has always been an important content of manipulator control. The existing myoelectric prosthetic hands cannot realize the control of the clamping force of the prosthetic hand. The size may not be able to achieve a convenient force control method that is suitable for the disabled, so that the disabled cannot take daily necessities such as fragile and deformable, which brings difficulties for the disabled to adapt to normal life after using the myoelectric prosthetic hand

Method used

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  • Myoelectricity artificial hand grip strength controlling method based on fuzzy controller
  • Myoelectricity artificial hand grip strength controlling method based on fuzzy controller
  • Myoelectricity artificial hand grip strength controlling method based on fuzzy controller

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment

[0014] A kind of myoelectric prosthetic hand grip control method based on fuzzy controller, comprises the following steps:

[0015] Step 1 Use the myoelectric electrode to collect the signal of the muscle force, and then use the force tactile sensor to collect the signal of the artificial hand grip.

[0016] Step 2 preprocesses and blurs the collected signals of muscle exertion and artificial hand grip strength,

[0017] Step 3 uses fuzzy rules to perform fuzzy inference on the fuzzy output result obtained in step 2, and finally defuzzifies the result of fuzzy inference to obtain a driving signal for controlling the grip force of the myoelectric prosthetic hand.

[0018] The amplitude range of the myoelectric signal accepted by the fuzzy controller is 0V~3V, the amplitude range of the grip signal is 0V~3.3V, and the output is used to drive the PWM si...

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Abstract

The invention discloses a myoelectricity artificial hand grip strength controlling method based on a fuzzy controller, which comprises the following steps of: 1, acquiring signals of muscle action force by using a myoelectricity electrode, and acquiring signals of artificial hand grip strength by using a force touch sensor; 2, pre-treating the acquired signals of the muscle action force and the acquired signals of the artificial hand grip strength and performing fuzzification; and 3, performing fuzzy reasoning on the obtained fuzzification output results by using a fuzzy rule, and finally performing de-fuzzification on the result of the fuzzy reasoning, obtaining a driving signal to control the myoelectricity artificial hand grip strength.

Description

technical field [0001] The invention relates to a method for controlling the grip strength of a myoelectric prosthetic hand based on a fuzzy controller. Background technique [0002] Although myoelectrically controlled prosthetic hands have appeared for many years, how to solve the problem of controlling the clamping force of the mechanical prosthetic hand has always been an important content of manipulator control. The existing myoelectric prosthetic hands cannot realize the control of the clamping force of the prosthetic hand. Size or can not realize the convenient force control method that adapts to the handicapped, makes the handicapped unable to take the daily necessities such as fragile, deformable, brings difficulty to the handicapped after using myoelectric prosthetic hand to adapt to normal life. Contents of the invention [0003] The invention proposes a method for controlling the grip strength of a myoelectric artificial hand based on a fuzzy controller. The use...

Claims

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Application Information

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IPC IPC(8): A61F2/72A61F2/56
Inventor 王楠茅晨吴常铖柯欣
Owner SOUTHEAST UNIV
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