在不使用力测量的情况下,机械人手握力控制的可选变量——平均功率

IF 1.3 4区 工程技术 Q3 COMPUTER SCIENCE, INFORMATION SYSTEMS
Juan Felipe Solarte;Carlos Gaviria
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引用次数: 0

摘要

动力握把是机械手假肢的基本功能之一,它是完成各种日常生活活动所必需的。本研究建议使用执行器消耗的平均电功率作为有效自由度等于1的机构中与握力相关的变量。这种方法可以实现闭环握持力控制方案,而不需要力传感器。为了评估该方法的性能,开发了一个五指欠驱动机器人手原型,并采用串级控制方案跟踪平均功率参考。该系统在Matlab的Simulink环境下实现,采用Arduino Mega 2560板进行信号采集和执行器控制。采用可变刚度装置验证了力-力关系,并按照评估机械手假体质量的标准化方案进行了验证。结果表明,平均电功率比电流与握力的相关性更强,而电流在以前的研究中也被用于类似的目的。这项工作解决了在没有力传感器的情况下控制握力的挑战,引入了一个以前未被用于此目的的变量
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Average Power as an Alternative Variable for Power grip Control in Robotic Hands Without Using Force Measurements
Power grip is one of the fundamental functionalities of a robotic hand prosthesis, as it is essential for performing various activities of daily living. This study proposes the use of the average electrical power consumed by the actuators as a variable correlated with grip force in mechanisms with an effective degree of freedom equal to one. This approach enables the implementation of closed-loop grip force control schemes without the need for force sensors. To evaluate the performance of the proposed method, a five-finger underactuated robotic hand prototype was developed, along with a cascade control scheme to track an average power reference. The system was implemented in the Simulink environment of Matlab, using an Arduino Mega 2560 board for signal acquisition and actuator control. The powerforce relationship was validated using a variable stiffness device, in accordance with recommendations from a standardized protocol for evaluating the quality of robotic hand prostheses. The results show that average electrical power exhibits a stronger correlation with grip force than electric current, which has been used for similar purposes in previous studies. This work addresses the challenge of controlling grip force without force sensors, introducing a variable that has not been previously exploited for this purpose
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来源期刊
IEEE Latin America Transactions
IEEE Latin America Transactions COMPUTER SCIENCE, INFORMATION SYSTEMS-ENGINEERING, ELECTRICAL & ELECTRONIC
CiteScore
3.50
自引率
7.70%
发文量
192
审稿时长
3-8 weeks
期刊介绍: IEEE Latin America Transactions (IEEE LATAM) is an interdisciplinary journal focused on the dissemination of original and quality research papers / review articles in Spanish and Portuguese of emerging topics in three main areas: Computing, Electric Energy and Electronics. Some of the sub-areas of the journal are, but not limited to: Automatic control, communications, instrumentation, artificial intelligence, power and industrial electronics, fault diagnosis and detection, transportation electrification, internet of things, electrical machines, circuits and systems, biomedicine and biomedical / haptic applications, secure communications, robotics, sensors and actuators, computer networks, smart grids, among others.
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