基于弹性铰链的仿人型肌电假手设计

发布时间：2018-01-10 07:18

本文关键词：基于弹性铰链的仿人型肌电假手设计　出处：《华南理工大学学报(自然科学版)》2016年10期 　论文类型：期刊论文

【摘要】：截肢患者需要外形与人手相似、重量轻、体积小,并且具有人手大部分抓取功能和适当操作功能的假手,基于对人手骨骼结构和功能的分析,提出了一种仿人型肌电假手设计.该假手具有5只手指和4个自由度,分别由4个独立的驱动器进行控制;手指的关节基于弹性铰链进行设计,相邻的指骨间通过螺旋弹簧连接;除拇指外,每只手指均为单自由度,关节之间的运动通过腱驱动耦合实现;驱动系统设计安装在手掌内,具有紧凑的结构,对各个手指的运动灵活控制.通过对手指的运动学分析以及对假手功能的模拟证实,该假手能够实现日常生活中大部分的手势和抓取功能.
[Abstract]:Amputees need prosthetic hands that are similar in shape to hands, light in weight, small in size, and have most of the grip and proper manipulation functions of the hands, based on an analysis of the skeletal structure and function of the hands. The design of a humanoid myoelectric prosthetic hand is presented, which has five fingers and four degrees of freedom, which are controlled by four independent actuators. The joint of the finger is designed based on the elastic hinge, and the adjacent phalanx is connected by a spiral spring. With the exception of thumb, each finger is single degree of freedom, and the motion between joints is realized by tendon driving coupling. The driving system is designed and installed in the palm of the hand with a compact structure and flexible control of the movement of each finger. The kinematics analysis of the finger and the simulation of the function of the prosthetic hand are carried out. The prosthetic hand can achieve most of the hand gesture and grab function in daily life.
【作者单位】：华南理工大学机械与汽车工程学院;
【基金】：国家自然科学基金资助项目(51205134,51575187,91223201) 广州市产学研协同创新重大专项(2014Y2-00217) 广东省自然科学基金资助项目(S2013030013355) 黄埔区重大专项(20150000661) 华南理工大学中央高校基本科研业务费专项资金资助项目(2015ZZ007)~~
【分类号】：TH122
【正文快照】： Foundation items:Supported by the National Natural Science Foundation of China(51205134,51575187,91223201)and the Natu-ral Science Foundation of Guangdong Province(S2013030013355)仿人型肌电假手[1]通过人体肌肉电信号(EMG)[2]进行控制,常被用于截肢患者的肢体

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