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Fuzzy estimation method for initial article grabbing reference force of hand prosthesis

A prosthetic hand, technology of reference force, applied in the direction of prosthesis, medical science, etc.

Active Publication Date: 2014-06-25
CENT SOUTH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005]However, when grabbing objects with different degrees of softness and hardness, if the prosthetic hand cannot be given a suitable expected grip force, it may cause the object to slip or be damaged; The instability of the electrical signal will also cause the uncertainty of the expected force

Method used

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  • Fuzzy estimation method for initial article grabbing reference force of hand prosthesis
  • Fuzzy estimation method for initial article grabbing reference force of hand prosthesis
  • Fuzzy estimation method for initial article grabbing reference force of hand prosthesis

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings.

[0048] After the design of the prosthetic hand is completed, the structure and stiffness are determined, and the intention of the human brain cannot be completely decoded, so the prosthetic hand cannot grasp objects with variable stiffness like a human hand. Therefore, active control is used to realize the function of the prosthetic hand to grasp objects with different stiffnesses. Based on the control principle of human hand grasping, a prosthetic hand grasping control strategy is proposed, such as figure 1 Shown, where F is the grip force of the prosthetic hand, F d for the desired grip. According to the measurement information of the grasping force, the grasping force estimation of human brain vision is replaced by the fuzzy estimation model of grasping force, and the neural control of the human brain is replaced by the fuzzy controller, so that the prosthetic ha...

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Abstract

A fuzzy estimation method for initial article grabbing reference force of hand prosthesis includes the steps: 1) assuming that the hand prosthesis grabs articles different in softness at a certain speed before touching; 2) measuring contact force by the aid of a force sensor mounted at a knuckle when a finger of the hand prosthesis contacts with the articles; 3) obtaining a touch force gradient by differential of the contact force F within a short time when the finger contacts with the articles; 4) subjecting the contact force and the contact force gradient to normalization, fuzzification, fuzzy reasoning and defuzzification to obtain a fuzzy estimation value, wherein a specific rule fuzzy rule base is designed; 7) obtaining an expected grabbing force by means of coordinate inversion transformation of the fuzzy estimation value; 8) taking the maximum expected force calculated within a short time (50-300ms) after the hand prosthesis contacts with the articles as the initial article grabbing reference force of the hand prosthesis. The fuzzy estimation method has the advantages that estimation of the initial reference force of the hand prosthesis grabbing the articles different in softness is evident in differentiation and estimation effects are favorable.

Description

technical field [0001] The invention relates to a fuzzy estimation method for an initial reference force of an object grasped by a prosthetic hand. Background technique [0002] The essential difference between humans and animals is that humans can not only use tools, but also create tools and transform the world, which is largely due to their multi-fingered hands with flexible manipulation functions. For the physically disabled, the loss of hands not only takes a physical and mental blow, but also brings inconvenience to life. Therefore, research on prosthetic hands is of great significance for improving the life of the upper limb disabled. [0003] In daily life, the manipulative environment of the human hand is often not dynamic, and the manipulative objects are complex and diverse, which requires the prosthetic hand to be better adaptable, flexible and more powerful than ordinary manipulators. The design of the control system and the study of the control strategy are ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/76A61F2/70
Inventor 邓华张翼段小刚
Owner CENT SOUTH UNIV
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