光纤光栅穿戴指套及手指运动监测  

Fiber grating wearing fingerstall and the method of monitoring finger movement

作　　者：闫希研 冯艳 章紫微 张华 YAN Xiyan;FENG Yan;ZHANG Ziwei;ZHANG Hua(Robotics Institute,School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Shanghai Large-scale component Intelligent Manufacturing Robot Technology Collaborative Innovation Center,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院机器人研究所,上海201620 [2]上海大型构件智能制造机器人技术协同创新中心,上海201620

出　　处：《光学精密工程》2025年第4期497-511,共15页Optics and Precision Engineering

基　　金：国家自然科学基金(No.51665039);上海市地方院校能力建设项目(No.61763030)。

摘　　要：根据手指尺寸的不同,设计出三种规格的光纤布拉格光栅(FBG)穿戴式多关节指套,该指套可以屏蔽温度对FBG的影响。它具有良好的固定耦合性和抗蠕变的能力。建立了多关节手指运动模型;将三种指套穿戴到手指模型和志愿者1、志愿者2的手指上进行了关节运动角度标定实验;使用惯性测量单元(IMU)传感器和光纤光栅感知单元进行了人体食指、中指、环指角速度监测的对比实验;利用指套监测三种不同的手势,并结合反向传播(BP)神经网络进行了预测分析。模型食指灵敏度对比理论分析的食指灵敏度误差小于7.7%。手指模型相应关节的“正行程”和“反行程”的平均灵敏度大于5.3 pm/°,两名志愿者手指相应关节“正行程”和“反行程”的平均灵敏度大于3.8 pm/°。标定实验研究表明,该指套可以精确监测手指不同关节的运动灵敏度,且可适用于不同人群,指套装置可以屏蔽人体温度的影响。利用Bland-Altman分析方法对对比试验监测的数据进行分析,得到二者的监测结果具有一致性,证明了光纤光栅感知单元可以对食指、中指、环指的运动进行有效监测。利用指套监测手势,并利用BP神经网络对两名志愿者进行预测分析得到均方误差分别为0.00004和0.000002。综合上述实验研究表明,FBG多关节指套可以精确地监测手指各关节运动角度灵敏度和运动情况,可以利用BP神经网络对其进行预测。A wearable multi-joint fingerstall with three different specifications based on Fiber Bragg Grating(FBG)was designed.It could shield the temperature effects on FBG.With good fixing coupling and anti-creep ability,a multi-joint finger motion model was established.Calibration experiments for joint angle measurements were performed by wearing the three types of fingerstalls on a finger model and the fingers of two volunteers.A comparative experiment was conducted using an Inertial Measurement Unit(IMU)sensor and the FBG sensing unit to monitor the angular velocity of the index,middle,and ring fingers.The fingerstall was used to monitor three different hand gestures,and a Backpropagation(BP)neural network was employed for predictive analysis.The sensitivity error of the index finger in comparison with theoretical analysis is less than 7.7%.The average sensitivity for the corresponding joints during the"forward stroke"and"reverse stroke"in the finger model is greater than 5.3 pm/°,and for two Volunteers,the average sensitivity for the corresponding joints during the"forward stroke"and"reverse stroke"is greater than 3.8 pm/°.Calibration experiments show that the fingerstall can accurately monitor the motion sensitivity of different finger joints and is applicable to various populations,the finger sleeve device can shield it from the influence of human body temperature.Bland-Altman analysis of the comparative experiment data indicates consistency betweenthe results,demonstrating that the FBG sensing unit can monitor the motion of the index,middle,and ring fingers effectively.Using the fingerstall to monitor gestures and applying the BP neural network for prediction analysis,the Mean Squared Errors(MSE)for two Volunteers are 0.00004 and 0.000002,respectively.Comprehensive experimental results show that the FBG multijoint fingerstall can precisely monitor the joint motion angle sensitivity and movement,and the BP neural network can be used for prediction.

关 键 词：光纤布拉格光栅 穿戴式多关节指套 关节运动灵敏度 手势监测 

分 类 号：TN253[电子电信—物理电子学] TP212[自动化与计算机技术—检测技术与自动化装置]