力控制与触觉界面在肌电假手原型中的应用

2015 Pan American Health Care Exchanges (PAHCE) Pub Date : 2015-03-23 DOI:10.1109/PAHCE.2015.7173344

E. R. Mancipe-Toloza, S. A. Salinas

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引用次数: 2

摘要

介绍了一种用于1自由度假肢手样机的力控制硬件嵌入式系统的开发。肌电信号用于使伺服电机运动，从而允许打开和关闭假体。采用比例积分(PI)增量控制方法控制假肢力。此外，一个小的振动电机就像一个触觉界面，它被放在用户的手臂上;施加在物体上的假体力与振动器电机频率有关。

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Force control and haptic interface applied to prototype of myoelectric prosthetic hand

Development of a force control hardware embedded system for a Prototype of Prosthetic Gripper Hand with 1 grade of liberty is shown. A myoelectric signal is used to enable a servo motor movement which permits opening and closing the prosthesis. The prosthesis force is controlled with a Proportional and Integrative (PI) incremental control. Furthermore, a little vibrator motor acts like a haptic interface and it is put on the user arm; the prosthesis force applied against an object is related with the vibrator motor frequency.

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来源期刊

2015 Pan American Health Care Exchanges (PAHCE)

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