A control system and method for realizing compliant motion of prosthetic hand
A control method and prosthetic hand technology, which is applied in the field of prosthetic hands, can solve problems such as difficult bionics of human motion functions and inability to achieve compliant motion control
Active Publication Date: 2021-02-09
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is that the driving methods of traditional prosthetic hands and human limbs are fundamentally different, and it is difficult to realize bionics on human body motion functions, specifically, it is impossible to realize compliant motion control
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[0025] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.
[0026] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.
[0027] figure 1 It is a scene diagram of a prosthetic hand control experiment in a preferred embodiment of the present invention, ...
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The invention discloses a control system for realizing the compliant motion of a prosthetic hand, comprising a myoelectric sensor, a neuromorphic chip, a DC motor, a pull wire and a prosthetic hand, the myoelectric sensor is wirelessly connected to the neuromorphic chip, and the DC motor It is electrically connected with the neuromorphic chip, one end of the pull wire is fixed on the output shaft of the DC motor, and the other end is connected to each joint of the prosthetic hand. The invention also discloses a control method for realizing the compliant motion of the prosthetic hand, which includes the following steps: 1. The myoelectric sensor collects the myoelectric signal of the forearm of the arm, and then uses nonlinear filtering in the host computer to perform preprocessing; 2. The neuromorphic chip receives the preprocessed myoelectric signal and outputs muscle tension as a control signal of the DC motor; 3. The DC motor drives the prosthetic hand to move through the pull wire. The invention adopts a prosthetic hand with a bionic structure and utilizes neuromorphic chip technology to realize the bionic compliant motion control of the prosthetic hand.
Description
technical field [0001] The invention relates to the field of prosthetic hands, in particular to a control system and method for realizing the motion of the prosthetic hand. Background technique [0002] Research on prosthetic hands is very important for disabled people to live a normal life and better integrate into society. Therefore, it is very important to manufacture human-like prosthetics that are similar in appearance to human hands, have functions close to those of human hands, and can control grasping movements in real time. It is urgently needed for people with disabilities. [0003] Although prosthetic hand technology has made great progress in recent years, the rate of rejection and abandonment of prosthetic hands is still high. One of the key reasons is the lack of bionic compliant control functions, which cannot achieve compliant motion control of prosthetic hands. At present, the driving method of the prosthetic hand is mainly to accurately reproduce various m...
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IPC IPC(8): A61F2/72
CPCA61F2/72A61F2002/701
Inventor 牛传欣蓝宁罗奇
Owner SHANGHAI JIAOTONG UNIV