肌电假肢手抓握力控制系统的设计与实现  

Design and implementation of grasping force control system for myoelectric prosthetic hands

作　　者：周恩至 张翼[1] 邓华[1] ZHOU Enzhi;ZHANG Yi;DENG Hua(State Key Laboratory of High Performance and Complex Manufacturing,Central South University,Changsha 410083,China)

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083

出　　处：《传感器与微系统》2020年第9期94-96,100,共4页Transducer and Microsystem Technologies

基　　金：国家“973”重点基础研究发展计划资助项目(2011CB013302);国家重点研发计划资助项目(2018YFB1307203)。

摘　　要：为使上肢残疾者佩戴的肌电假肢手能够稳定地抓握物体,设计了一种基于表面肌电(sEMG)信号和力敏电阻器(FSR)的假肢手抓握力控制系统。系统以数字信号处理器(DSP)-ARM双处理器作为控制核心,通过sEMG传感器采集上肢残疾者手臂的表面肌电信号,从中解码期望的抓握力;通过FSR传感器采集假肢手抓握物体时的实际抓握力,作为反馈信号;然后运用无模型自适应控制方法实现假肢手抓握力的闭环控制。抓握力控制实验表明:该系统能够控制假肢手以期望力稳定地抓握物体。In order to enable the myoelectric prosthetic hand worn by the upper limb disabled to grasp the object stably,a grasping force control system for prosthetic hands based on surface electromyographic(sEMG)signal and force-sensitive resistor(FSR)is designed.The system uses DSP-ARM dual processor as the control core,and collects the sEMG signal of the arm of the upper limb disabled through s EMG sensor to decode the desired grasping force.The actual grasping force is collected by the FSR sensor as a feedback signal when the prosthetic hand grasps the object.Then the model-free adaptive control method is used to realize the closed-loop control of the grasping force of the prosthetic hand.The grasping control experiment shows that the system can control the prosthetic hand to stably grasp the object with the desired force.

关 键 词：表面肌电(sEMG)信号 力敏电阻 假肢手抓握力控制 力解码 无模型自适应控制 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]