具有触觉临场感和肌电仿生控制功能的遥控机械手研究  

A Tele-manipulator with Tactile Tele-presence and Myoelectric Bionic Control

作　　者：席旭刚[1] 罗志增[1] 

机构地区：[1]杭州电子科技大学智能控制与机器人研究所,浙江杭州310018

出　　处：《机器人》2009年第3期270-275,共6页Robot

基　　金：国家自然科学基金资助项目(60874102);国家863计划资助项目(2008AA04Z212);浙江省教育厅科研计划资助项目(Y200702117)

摘　　要：提出了一种结合触觉临场感和肌电仿生控制技术的遥控机械手控制方法.采集手臂皮肤表面的肌电信号(表面EMG),结合AR模型和贝叶斯分类方法判断出手部的运动模式,控制机械手完成相应的动作.触滑觉组合传感器以压电材料PVDF为敏感体,安装于遥控机械手的手指上.机械手抓握或触摸物体时产生触滑觉,触滑觉信号经处理后通过电刺激来刺激操控人员,实现触觉临场感;操控者可根据触觉临场感来掌握自己的手部动作.实验表明,所提方法能提高遥控机械手的仿生控制能力.This paper presents a method that controls the tele-manipulator by combining tactile tele-presence with myoelectric bionic control. Surface electromyography （SEMG） is collected from the forearm. Motion patterns of the hand are recognized from SEMG by autoregressive （AR） model and Bayes taxonomy, and the tele-man/pulator is controlled to perform the corresponding movement. The tactile and slip sensor using PVDF （polyvinylidene fluoride） as sensitive material is fitted on the tele-manipulator finger. When the tele-manipulator is holding or touching an object, the tactile and slip signals are created and then transformed into electrical stimuli which stimulate the operator, hence the tactile tele-presence is achieved. The operator can control the motion of his hand with tactile tele-presence. Experimental results indicate that the method can improve the bionic controllability of tele-manipulator.

关 键 词：遥控机械手 临场感 表面肌电 触觉传感器 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]