基于FPGA的仿人假手控制系统设计  

Design of prosthetic hand control system based on FPGA

作　　者：李伟[1] 张庭[1] 姜力[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,黑龙江哈尔滨150001

出　　处：《传感器与微系统》2015年第2期122-124,146,共4页Transducer and Microsystem Technologies

基　　金：国家重点基础研究发展计划资助项目(2011CB013306)

摘　　要：为了满足生机电一体化仿人假手的控制需求,提出了基于FPGA的仿人假手电气控制系统设计方案。采用模块化设计思想,由FPGA构成的主控芯片模块便于功能拓展与二次开发;由DSP构成的手指运动控制模块、肌电信号采集模块、电刺激模块、USB接口模块和电池管理模块均可独立工作,与主控芯片模块间通过通用接口连接。系统集成度高,可完全放置于假手内部。应用该控制系统在HIT V代手上进行多指抓取实验,实验结果证明其工作效果良好。A design scheme of prosthetic hand electrical control system based on FPGA is proposed in order to meet control requirements of biomechatronics prosthetic hand. The modular design is used in the system,main control chip module which is composed of FPGA is used to make the system have the ability of functions expansion and redevelopment; finger movement control module made up of DSP,EMG signal collection module,electrophotoluminescence module,USB interface module and battery management module can work independently and connect with main control chip module,through universal interface. The system is highly-integrated and can be fully placed inside prosthetic hand. The multi-finger grasping experiments on HIT prosthetic hand V are carried out using the control system,and the experimental results verify its working effect is good.

关 键 词：仿人假手 控制系统 模块化设计 现场可编程门阵列 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]