全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用：99美元
投递稿件

查看量下载量

相关文章

更多...

三自由度仿人型假手及其肌电控制策略

DOI: 10.3969/j.issn.1006-7043.2009.07.015

Keywords: 仿人型假手 肌电控制 模式分类

Full-Text   Cite this paper   Add to My Lib

Abstract:

为了弥补当前商用单自由度假手康复功能的局限性,基于欠驱动原理设计了一种新型的三自由度仿人型假手.采用3枚电机分别驱动假手的拇指、食指以及其余三指,完成了15个活动关节在抓取物体时的调控.基于假手自由度的配置,采用支撑向量机方法,讨论了人手共19种姿态肌电模式的识别,并将其应用于假手的实时控制.实验结果表明,基于肌电信号能以较高成功率识别人手部的多种姿态,并可以直接应用至假手的动作控制,体现了较高的灵活性.

 References

[1]  6. PONS J L.ROCON E.CERES R The MANUS-HAND dextrous robotics upper limb prosthesis:mechanical and manipulation aspects 2004
[2]  7. CARROZZA M C.MASSA B.MICERA S The development of a novel prosthetic hand-ongoing research and preliminary results 2002(2)
[3]  8. HIROSE S.UMETANI Y The development of a soft gripper for the versatile robot hand 1977
[4]  9. ENGLEHART K.HUDGINS B A robust,real-time control scheme for muhifunction myoelectric control 2003(7)
[5]  10. CHU J U.MOON I.MUN M S A real-time emg pattern recognition system based on linear-nonlinear feature projection for a muhifunction myoelectrie hand 2006(11)
[6]  11. 刘宏.姜力.刘伊威.黄海 欠驱动白适应假手的联动机构 2007
[7]  12. 刘宏.姜力.黄海.候琳琪 欠驱动自适应假手的拇指机构 2007
[8]  13. GAO Xiao-hui.SHI Shi-cai.ZHAO Da-wei.JIANG Li.WANG Zhi-yang.CAI He-gao.LIU Hong HIT anthropomorphic robotic hand and finger motion control [期刊论文] -哈尔滨工业大学学报（英文版）2006(1)
[9]  14. 赵大威.姜力.金明河.刘宏 仿人型机器人手的力矩保持功能及控制系统 [期刊论文] -电机与控制学报2007(5)
[10]  15. ENGLEHART K.HUDGINS B.PARKER P A Classification of the myoelectrie signal using time-frequency based representations 1999
[11]  16. CRISTIANINI N.SHAWE-TAYLOR J An introduction to support vector machines 2000
[12]  17. KEERTHI S S.LIN C J Asymptotic behaviors of support vector machines with Gaussian kernel 2003(7)
[13]  18. KNERR S.PERSONNAZ L.DREYFUS G Single-layer learning revisited:a stepwise procedure for building and training a neural network[MJ 1990
[14]  19. ERIKSSON L.SEBELIUS F.BALKENIUS C Neural control of a virtual prosthesis 1998
[15]  1. LIGHT C M.CHAPPELL P H Development of a lightweight and adaptable multiple-axis hand Prosthetic 2000
[16]  2. BIAGIOTrI L.LOTTI E.MELCHIOM C Mechatronics Design of Innovative Fingers for Anthropomorphic Robot Hands 2003
[17]  3. PFEIFFER F Grasping with hydraulic fingers-an example of mechatronies 1996(2)
[18]  4. HE Ping.JIN Minghe.YANG Lei High performace dsp/fpga controller for implementation of HIT/DLR dexterous robot hand 2004
[19]  5. BITZER S.SMAGT P Learning EMG control of a robotic hand:towards active prostheses 2006

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133