具有力/位感知的仿人型假手控制系统的研究  

Research on control system for 5-DOFs humanoid prosthetic hand with force/position sensing

作　　者：樊仲斌[1] 姜力[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《中国科技论文在线》2010年第8期575-578,607,共5页

基　　金：国家自然科学基金重点项目(50435040);国家高技术研究发展计划(863计划)重点项目(2009AA043803)

摘　　要：研究了一种具有力/位感知、各手指独立驱动的五自由度仿人型残疾人假手控制系统。该控制系统采用分层控制的结构,其中底层控制器基于DSP+CPLD实现五自由度假手的运动控制。底层控制器放置在假手内部,实现仿人型假手系统的高度集成。采用基于位置的阻抗控制策略,在线调整目标阻尼参数,改善了假手阻抗控制系统的性能。A control system was designed for the 5-DOFs （degrees of freedom） humanoid prosthetic hand with force/position sensing that can be actuated individually. The control system has the hierarchical control structure. The bottom controller is based on the DSP＋CPLD architecture and can realize the motion control of the prosthetic hand. The controller is integrated in the prosthetic hand body, and the high-level integration of the prosthetic hand is achieved. Based on the position-based impedance control strategy, a target damping coefficient online-adjusting impedance control method is proposed. The method improves the performance of the impedance control system for the prosthetic hand.

关 键 词：仿人型假手 力/位感知 阻抗控制 阻尼 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]