基于MATLAB和ADAMS的肌电假手联合仿真

发布时间：2018-03-16 05:35

  本文选题：假手　切入点：表面肌电信号　出处：《系统仿真学报》2017年05期 　论文类型：期刊论文

【摘要】：为了减少假手研制过程中投入的大量成本和费用,充分利用虚拟技术,搭建假手的仿真系统。采用Pro/E虚拟建模软件,搭建具有多自由度的假手样机模型;将其导入到ADAMS中,对假手进行运动学仿真,验证其合理性。通过ADAMS与MATLAB的接口模块ADAMS/Control,利用MATLAB/Simulink模块搭建假手模型的控制系统,将对应的手部动作模式信息转化为假手关节期望角度;将肌电信号采集系统采集的信号,采用基于绝对值均值的阈值决策法进行处理,提取肌电信号的时域特征,送入MATLAB,进行联合仿真。研究结果表明,基于MATLAB和ADAMS的肌电假手的仿真系统实现了对肌电假手的驱动,验证了肌电假手控制方案的可行性。
[Abstract]:In order to reduce the large amount of cost and expense invested in the development of prosthetic hand, the simulation system of prosthetic hand is built by making full use of virtual technology. The virtual modeling software of Pro/E is used to build the prototype model of prosthetic hand with multiple degrees of freedom, and the model is imported into ADAMS. The kinematics simulation of the prosthetic hand is carried out to verify its reasonableness. Through the interface module of ADAMS and MATLAB, Adams / control, the control system of the prosthetic hand model is built by using the MATLAB/Simulink module, and the corresponding information of the hand movement mode is transformed into the desired angle of the prosthetic hand joint. The signals collected by EMG signal acquisition system are processed by threshold decision method based on absolute mean value, and the time domain feature of EMG signal is extracted, then sent to MATLAB for joint simulation. The results show that, The simulation system of myoelectric prosthetic hand based on MATLAB and ADAMS realizes the drive of myoelectric prosthetic hand and verifies the feasibility of the control scheme of myoelectric prosthetic hand.
【作者单位】： 哈尔滨理工大学自动化学院;哈尔滨理工大学测通学院;
【基金】：国家“863”重大项目(2009AA043803)
【分类号】：TP391.9
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本文编号：1618583