基于关节电流的假肢手手指控制系统研究  

Research on Prosthetic Hand Finger Control System Based on Joint Current

作　　者：岳文槊 汤奇荣[2] 谢小平 崔国华 YUE Wenshuo;TANG Qirong;XIE Xiaoping;CUI Guohua(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;School of Mechanical Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]同济大学机械与能源工程学院,上海201804

出　　处：《机床与液压》2025年第3期41-45,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(62373285)。

摘　　要：针对欠驱动假肢手手指拟人性差的问题,基于人手构造及其运动规律,研制一款具有耦合连杆机构传动两自由度欠驱动的假肢手手指。同时,针对假肢手指尖力传感器无法在结构复杂的物体表面实现有效接触力控制的问题,设计基于关节电流的假肢手手指压力控制系统。通过分析手指传动系统模型,确定手指关节电流与指面压力存在线性关系,并对手指关节电流和指面压力数据进行采集与拟合,得到关节电流与远、中、近指节的指面压力模型,并进行了实验验证。最后,对不同直径的圆柱体进行了抓取实验。结果表明:实际测得的指面压力与设定期望压力的误差在5%以内;所设计的假肢手手指能实现对不同直径圆柱体的抓取,具有良好的抓握能力,基于关节电流的假肢手手指压力控制具有较好的可行性。To address the issue of limited dexterity and human-like characteristics in underactuated prosthetic hand fingers,a prosthetic finger with two degrees of freedom of underactuated prosthetic hand driven by coupling linkage mechanism was developed.Simultaneously,in response to the challenge posed by the inability of fingertip force sensors in prosthetic hand fingers to effectively establish contact force control on structurally complex surfaces,a prosthetic hand finger pressure control system of prosthetic hand based on joint current was designed.The finger transmission system model was analyzed,it was determined that there existed a linear relationship between joint currents and fingertip pressures.Data for joint currents and fingertip pressures were collected and fitted,and models for joint currents corresponding to fingertip pressures at the distal,middle&proximal phalanges were obtained,and the experiment was verified.Finally,the gripping experiments were conducted with objects of varying cylindrical diameters.The results show that error between the actual measured pressure and the set expected pressure is less than 5%.The fingers of the designed prosthetic hand can grasp cylinders with different diameters and have good grasping ability.The pressure control system for prosthetic hand fingers based on joint current measurements exhibits strong feasibility.

关 键 词：假肢手手指 关节电流 压力控制 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]