Dexterous hand based on myoelectric control

A myoelectric control and dexterous hand technology, applied in the field of dexterous hands, can solve problems such as single movement form, limitation of dexterous hands, lack of flexibility, etc., to achieve the effect of expanding the application range and increasing the movement form

Inactive Publication Date: 2018-06-05
杨晶
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the single movement form and lack of flexibility caused by the control method of the rigid structure driven by the motor limit the further application of the dexterous hand, making it unable to perform more complex and precise tasks in the industrial and agricultural production process

Method used

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  • Dexterous hand based on myoelectric control

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Effect test

Embodiment Construction

[0014] The present invention will be further described below in conjunction with accompanying drawing and embodiment.

[0015] Such as figure 1 , a pneumatic flexible actuator FPA, restricts the axial deformation of the rubber tube by embedding a steel wire inside the rubber tube. The main component of the pneumatic flexible actuator FPA is two layers of elastic rubber tubes, and then the vulcanized spring is embedded in the middle of the rubber tube wall. Its working principle is: connect the air pump to the pipe joint on the FPA end cap, then fill the inner cavity of the FPA with gas and compress it. When the air pressure in the inner cavity rises, the rubber tube will expand around. However, due to the axial constraint of the spring in the tube wall, the rubber tube can only be elongated and deformed in the axial direction; when the air pressure in the inner cavity decreases, the elastic action of the rubber tube and the spring will return it to its original state.

[001...

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Abstract

The invention discloses a dexterous hand based on myoelectric control. According to the scheme of the dexterous hand based on myoelectric control, a flexible pneumatic actuator (FPA) serves as a foundation, a human hand structure serves as a prototype, the movement characteristics of joints of the human hand structure are combined, the axis of a middle finger serves as the axis of the integral structure (namely the hand axis), and the remaining fingers are arranged at intervals of 20 degrees. The dexterous hand has the advantages that the FPA serves as a driving core, the two bending joints ofdifferent structures are mutually combined, the electromyographic signals are introduced into a control strategy of the dexterous hand, and the dexterous hand is controlled in a myoelectric control mode, so that the motion mode of a human hand can be better simulated.

Description

technical field [0001] The invention relates to a dexterous hand based on myoelectric control, which is suitable for the mechanical field. Background technique [0002] Since the 1990s, the technology and application of traditional industrial robots have tended to be saturated. With the emergence of bionics and the rapid development of robotics and artificial intelligence technology, the application of robots has gradually extended from the industrial field to agriculture, rehabilitation medicine, entertainment, etc. In areas such as the service industry, the operating environment is often dynamic and non-beautiful. [0003] Therefore, not only the end effector of the robot needs to be more flexible and more suitable for a variety of changeable operating objects, but also the control strategy and control accuracy of the robot control system have correspondingly higher requirements. [0004] Whether it is an industrial robot or an agricultural robot, the end effector is ofte...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 杨晶
Owner 杨晶
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