Compliance control of an ultrasonic motor powered prosthetic forearm

Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication Pub Date : 1993-11-03 DOI:10.1109/ROMAN.1993.367742

M. Pecson, K. Ito, Zhiwei Luo, A. Kato, T. Aoyama, M. Ito

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引用次数: 9

Abstract

The capability of a prosthetic device to mimic the response of the actual limb with respect to voluntary motor commands and to environmental loads should be addressed. This paper discusses the compliance control of an ultrasonic motor powered prosthetic forearm which utilizes cutaneously measured electromyogram (EMG) signals sensed with electrodes over the muscles as means of detecting motor commands sent by the central nervous system (CNS). Compliance control of the artificial limb was studied by implementing the bilinear model of the forearm and hand. This model emphasizes the role of the visco-elastic properties of the musculo-skeletal system of the actual limb in controlling its net configuration and movement. The flexor and extensor muscles extending over a joint influence the overall joint impedance and determines the equilibrium position of the joint. Relaxing both flexor and extensor muscles makes the joint compliant to external forces, while activating both muscles increases the impedance of the joint.<>

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超声马达驱动的假肢前臂顺应性控制

假肢装置模仿实际肢体对自主运动指令和环境负荷的反应的能力应该得到解决。本文讨论了超声电机驱动的前臂假肢的顺应性控制，该假肢利用肌肉上的电极感知皮肤测量的肌电图(EMG)信号作为检测中枢神经系统(CNS)发送的运动命令的手段。通过实现前臂和手的双线性模型，研究了假肢的柔顺控制。该模型强调了实际肢体的肌肉骨骼系统的粘弹性特性在控制其网络结构和运动中的作用。在关节上伸展的屈肌和伸肌影响关节的整体阻抗并决定关节的平衡位置。放松屈肌和伸肌使关节适应外力，而激活这两个肌肉会增加关节的阻抗。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication

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