基于sEMG和变刚度控制的虚拟假手交互系统  

Virtual hand interactive system based on sEMG and variable stiffness control

作　　者：余伟杰 曾洪[1] 金伟明[1] 宋爱国[1] YU Weijie;ZENG Hong;JIN Weiming;SONG Aiguo(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]东南大学仪器科学与工程学院,江苏南京210096

出　　处：《传感器与微系统》2023年第2期68-71,79,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(61673105)。

摘　　要：为使虚拟假手在交互时具有柔顺性,实现了一种基于表面肌电(sEMG)信号和变刚度控制的虚拟假手交互系统。首先,采集人体前臂的sEMG信号并从中估计人手的刚度水平和关节扭矩;然后,通过变刚度阻抗控制模型估计虚拟假手的关节角度;最后,使用估计的关节角度控制虚拟假手与虚拟环境中的物体进行交互,交互过程中根据虚拟假手与物体的交互力对关节角度进行动态调节。实验结果表明:基于sEMG和变刚度控制的虚拟假手在进行抓握物体的交互任务时能在成功抓握物体的前提下产生较小的交互力,从而实现柔顺的交互。In order to enable the virtual hand with compliance during interaction,a virtual hand interactive system based on the surface electromyography(sEMG)signal and variable stiffness control is implemented.Firstly,the sEMG of the human forearm is collected,from which the stiffness level and joint torque of the human hand are estimated.Then,the variable stiffness impedance control model is used to estimate the joint angle of the virtual hand.Finally,the estimated joint angle is used to control the virtual hand to interact with objects in the virtual environment.During the interaction,the joint angle is adjusted according to the interaction force between the virtual hand and objects.Experimental results show that the virtual hand based on sEMG and variable stiffness control produces smaller interaction force on the premise of a successful grasp when performing the interactive task of grasp,which achieves a compliant interaction.

关 键 词：表面肌电信号 变刚度控制 MYO臂环 虚拟假手 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TH89[自动化与计算机技术—计算机科学与技术]