Embedded underactuated prosthetic hand control system based on cyberglove data glove

Abstract

The invention discloses an embedded under-actuated prosthetic hand control system based on CyberGlove. The embedded under-actuated prosthetic hand control system comprises the CyberGlove, an upper computer, a motor assembly and an integrated control unit, wherein the CyberGlove is used for providing original movement data of a human hand, the upper computer is used for wirelessly transmitting the original movement data and command control, the motor assembly is used for driving a prosthetic hand to conduct various movements, and the integrated control unit is embedded into the prosthetic hand in the form of a integrated circuit plate and comprises a wireless receiving and transmitting module, a motor speed detection module, a motor current detection module, a fingertip force detection module, a master controller and a power amplification module. Through the embedded under-actuated prosthetic hand control system, movement control over the prosthetic hand can be conveniently achieved with the compact structure, the detects that an existing prosthetic hand control system is limited to a small number of preset control modes and hardware circuits are excessively huge can be overcome, and meanwhile movement accuracy and applicability in kinds of practical application can be significantly improved.

Description

technical field [0001] The invention belongs to the related technical field of bionic robots, and more specifically relates to an embedded underactuated prosthetic hand control system based on CyberGlove data gloves. Background technique [0002] Prosthetic hands have gained broad development prospects due to their advantages such as anthropomorphic motion and compact structure. In particular, the underactuated prosthetic hand, which is a recent popular research, has been widely used in many fields such as medical prosthetic hands, modern industrial production, and high-risk and complex operations due to its light-weight appearance and simple control characteristics. For example, Harbin Institute of Technology in China has developed a multi-freedom prosthetic hand voice control device based on Bluetooth wireless communication, which can control the prosthetic hand to perform corresponding movements through voice, and realize the embedded multi-degree-of-freedom myoelectric p...

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Problems solved by technology

[0003] However, further studies have shown that the above-mentioned existing prosthetic hands still have the following defects or deficiencies: First, the number of preset motion patterns is often limited, resulting in the inability to perform various complex operations with complete flexibility and high precision, and it is also difficult to Reproduce the dynamic coordination law of the human hand; secondly, the current control scheme for the underactuated prosthetic hand generally adopts a multi-axis servo control system, which can meet the general motion control requirements, but the computer plug-in card interface it uses is too bulky , the hardware structure is complex, which causes a variety of inconveniences in practical application, and directly affects the application flexibility of the prosthetic hand

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