基于脑-机接口技术的柔性体夹持机械手末端执行器系统设计  

Design of the End Actuator System of the Flexible Object Clamping Manipulator Based on Brain-computer Interface Technology

作　　者：程鼎豪 刘新华 金康 Cheng Dinghao;Liu Xinhua;Jin Kang(Sun Yueqi Honors College,China University of Mining and Technology,Xuzhou,Jiangsu 221116,China)

机构地区：[1]中国矿业大学孙越崎学院,江苏徐州221116

出　　处：《机电工程技术》2020年第8期119-120,165,共3页Mechanical & Electrical Engineering Technology

基　　金：国家级大学生创新训练计划资助项目(编号:201810290068)。

摘　　要：为使残障人士便捷抓取柔性体,设计了一种基于脑-机接口技术的柔性体夹持机械手末端执行器。整个系统由脑电模块、蓝牙模块、控制模块和末端执行器组成。使用脑电波传感器采集信号并进行分析,分析后的数据通过蓝牙发送到核心控制板处理,转化为动作指令控制末端执行器进行夹持。末端执行器由气缸驱动工作,夹持部分采用弹性夹持套,夹持套内部填充液性塑料,通过液性塑料的膨胀与收缩实现夹持工作。该装置通过意念实现柔性体的夹取,结构新颖,夹持效果稳定。In order to facilitate the disabled to grasp the flexible body,a flexible body clamping manipulator end effector based on brain computer interface technology was designed.The whole system consists of EEG module,Bluetooth module,control module and end effector.The EEG sensor is used to collect and analyze the signal.The analyzed data is sent to the core control board for processing through Bluetooth,which is converted into action command to control the end effector for clamping.The end effector is driven by the cylinder,and the clamping part adopts elastic clamping sleeve.The clamping sleeve is filled with liquid plastic,and the clamping work is realized through the expansion and contraction of liquid plastic.The device realizes the clamping of flexible body through the idea,with novel structure and stable clamping effect.

关 键 词：脑-机接口技术 末端执行器 液性塑料 脑电波 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TH77[自动化与计算机技术—控制科学与工程]