An anthropomorphic reflex control method for a prosthetic hand
A control method and prosthetic hand technology, which are applied in the field of anthropomorphic reflex control of prosthetic hands, and can solve problems such as untimely grasping of objects and excessive grasping force.
Active Publication Date: 2019-06-07
CENT SOUTH UNIV
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Problems solved by technology
There are also many anti-slip control strategies for prosthetic hands. The main problems are: the real-time performance of sliding detection; how much force should be applied to the prosthetic hand after sliding is detected;
Most researchers now increase the reference force of the grip force by one unit force by detecting a slip, which can easily cause excessive grip force or untimely grasping of objects.
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[0038] The present invention will be further described below in conjunction with the accompanying drawings.
[0039] refer to figure 1 , a structural diagram of an anthropomorphic reflex control method for a prosthetic hand, which consists of a main mode controller, slip detection, a grasping force increment fuzzy estimation system and a reflex controller.
[0040] The main mode controller works in the whole grasping process of the prosthetic hand, and the main mode controller may adopt a PID controller, a fuzzy controller, a sliding mode controller or other controllers. When there is no sliding, the main mode controller plays the role of grabbing and grasping the object; when the slip signal is detected, the main mode controller and the reflex controller jointly control the prosthetic hand to grasp the object.
[0041] Slip detection is to calculate the wavelet transform detail coefficient of the feedback force sequence F[n] in real time, and judge whether the grasped object h...
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An anthropomorphic reflection control method of an artificial hand comprises the following steps that an artificial hand main mode controller is in charge of grabbing articles, whether the articles have a sliding tendency or slide is judged according to grabbing force feedback information, sliding intensity and the change rate of the sliding intensity are calculated according to detail coefficient information of wavelet transformation of grabbing force signals when the articles have the sliding tendency or slide, grabbing force incremental quantity is calculated through a grabbing force incremental quantity fuzzy estimation system according to the sliding intensity and the change rate of the sliding intensity, and a reflection controller and a main mode controller mutually control the artificial hand to grab the articles rapidly and stably when the articles have the sliding tendency or slide. According to the anthropomorphic reflection control method of the artificial hand, sliding feeling information is detected, grabbing force is further increased according to the sliding intensity and the change rate of the sliding intensity, meanwhile, the reflection controller and the main mode controller are used for mutually controlling the artificial hand to grab the articles when the articles have the sliding tendency or slide, the effects that the grabbed articles are grabbed stably and rapidly, the grabbing force is appropriate, and the articles will not be damaged are achieved, and the requirements of rapidness and stability of reflection control of grabbing of the artificial hand are met. In addition, the invention further provides an anthropomorphic reflection control algorithm of the artificial hand.
Description
Technical field [0001] The invention relates to an anthropomorphic reflex control method of a prosthetic hand. technical background [0002] When a person is grasping an object, the central nervous system controls the human hand to grab an object; when the grasped object is accidentally disturbed, the person will respond quickly to hold the object firmly. This process involves human reflex control and active control. At the moment when a person feels the object is not stable, the grasping reaction is a reflex action controlled by the human spinal nerve. After the reflex reaction, the human nerve center participates in the grasping action. [0003] Upper limb amputees certainly hope that the prosthetic hand they use is like a normal human hand, but the flexibility of the current prosthetic hand is far lower than that of a human hand, which is mainly limited by the design of the mechanism and the development of control technology. The control technology of the prosthetic hand...
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IPC IPC(8): A61F2/72
Inventor 邓华张翼段小刚朱高科
Owner CENT SOUTH UNIV