人手运动特征分析与机械实现

发布时间：2018-05-15 00:10

本文选题：假肢手 + 主成份分析　；参考：《华中科技大学》2015年硕士论文

【摘要】：理想的假肢手除了在外观上与人手近似,还应该在运动功能上满足残疾人日常生活的基本要求。基于以上要求,理想的假肢手系统应该具有外观优美,结构紧凑等要求。但是目前国内外还没有能达到这种要求的假肢手系统。为此,本文设计了一套拟人假肢手系统,主要内容包括:(1)建立了人手运动实验范式,并以此为基础使用数据手套采集人手运动数据。通过对人手运动数据进行主成份分析,揭示了人手抓取的机械原理和人手协同运动的特性,对人手手指的相关性进行了研究。其中具体包括手指关节间的运动关系,手指间的运动关系和手指间的协同特性。(2)研制了复现人手运动谱的拟人假肢手,具体包括假肢手手指设计及驱动机构设计。在假肢手手指设计中,主要讲述了假肢手手指关节设计与简化办法,在设计中我们将弹簧嵌入到手指内部用于实现手指的自适应功能。在驱动机构设计中我们为了复现人手运动谱,区别于传统的线性叠加的办法,我们将运动分解为比例运动与缩放运动,并将之以机械办法实现。最后介绍了假肢手的整体设计布局。(3)验证了拟人假肢手的抓握性能,我们选取最有特点几种抓取模式进行抓取实验,验证了假肢手抓取的效果和设计办法的可行性。最后我们通过假肢手抓握力测试,对假肢手的抓握能力进行了一定的评估,为下一代假肢手设计留下参考依据
[Abstract]:The ideal prosthetic hand should not only be similar to the hand in appearance, but also meet the basic requirements of the daily life of the disabled in terms of motor function. Based on the above requirements, the ideal prosthetic hand system should have beautiful appearance, compact structure and other requirements. However, there is no prosthetic hand system that can meet this requirement at home and abroad. Therefore, a humanoid prosthetic hand system is designed in this paper, the main contents of which include: 1) establishing the experimental paradigm of manual motion, and using data gloves to collect the data of human movement. Based on the principal component analysis of hand motion data, the mechanical principle of manual grasp and the characteristics of hand cooperative movement are revealed, and the correlation of hand fingers is studied. Including the motion relationship between the fingers and joints, the motion relationship between the fingers and the cooperative characteristics between the fingers. (2) A humanoid prosthetic hand is developed to reproduce the manual motion spectrum, including the finger design of the prosthetic hand and the design of the driving mechanism. In the design of prosthetic hand finger, the design and simplification of hand joint of prosthetic limb are mainly described. In the design, we embed the spring into the finger to realize the adaptive function of the finger. In order to reproduce the manual motion spectrum in the design of the drive mechanism, we decompose the motion into proportional motion and scaling motion, and realize them by mechanical method, which is different from the traditional linear superposition method. Finally, the overall design layout of prosthetic hand is introduced. The grasping performance of humanoid prosthetic hand is verified. We select the most characteristic grab modes to carry out grasping experiment, and verify the effect of prosthetic hand grab and the feasibility of design method. Finally, we evaluate the grip ability of the prosthetic hand by testing the grip strength of the prosthetic hand, and leave a reference for the design of the next generation prosthetic hand.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496

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