Myoelectric control tactile feedback prosthetic hand

Abstract

The invention relates to a myoelectricity control tactile feedback prosthetic hand which comprises a prosthetic sleeve, a myoelectricity sensor, a vibration / electrical stimulation generator and a soft finger mechanism. The soft finger mechanism comprises a shell and at least two soft fingers, and a mounting framework is arranged on the shell; the soft finger mechanism is fixed on the artificial limb sleeve, the electromyographic sensor acquires electromyographic signals, the motor controls opening and closing of soft fingers according to the electromyographic signals, the first piezoresistive sensor and the second piezoresistive sensor measure contact force, and the vibration / electrical stimulation generator feeds back tactile feedback to a patient. Myoelectricity control and tactile feedback are adopted, the myoelectricity sensor and the vibration / electrical stimulation generator are pasted on the skin surface of a patient, myoelectricity signals can be detected to control the prosthetic hand to move, tactile feedback is achieved, and a man-machine closed loop is achieved.

Description

technical field [0001] The invention relates to a myoelectric control tactile feedback prosthetic hand. Background technique [0002] As an important part of the robot, the end effector is not only an important part of industrial robots and service robots, but also can be used as a prosthesis for the disabled. It can also replace human hands in dangerous fields such as space and deep sea to realize grasping operations, which has important social application value. . At present, the robot end effector can be divided into two types. One is the robot dexterous hand aiming at reproducing the human hand ability. As a result, its structure is complex, its reliability is low, and its control algorithm is complicated, which limits its wide application. On the other hand, the underactuated gripper with less degrees of freedom has become one of the research hotspots in the field of robotics. It is characterized by simple structure and high reliability, but generally lacks tactile an...

AI Technical Summary

Problems solved by technology

At present, robot end effectors can be divided into two types. One is the dexterous hand of the robot, which aims to reproduce the ability of human hands. It is characterized by more degrees of freedom, strong grasping ability and complex operation ability, but high degree of freedom. It leads to complex structure, low reliability and complex control algorithm, which limits its wide application

On the other hand, the underactuated gripper with less degrees of freedom has become one of the research hotspots in the field of robotics. It is characterized by simple structure and high reliability, but generally lacks the ability of tactile and bending perception, and it is difficult to achieve different shapes and shapes. Adaptive envelope capture of large and small objects, poor versatility and scalability

[0003] At present, most robot grippers drive the joints of the robot fingers to bend through connecting rods or wire ropes, and realize rigid grasping through the contact of multiple knuckles of the fingers with the object. When grasping, the contact between the knuckles and the object The number of points or contact area is small, the distribution of contact force is uneven, and fingers generally lack tactile and bending perception capabilities, which limits the adaptive grasping ability and leads to poor grasping stability

However, most prosthetic hands lack the tactile feedback function, do not realize the human-machine closed loop, and the patients have poor proprioception

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