基于Android手机语音的前臂假肢控制系统研究与设计

发布时间：2018-06-03 02:47

本文选题：前臂假肢 + 姿态解算　；参考：《山东科技大学》2017年硕士论文

【摘要】：本论文设计了一款通过Android手机语音控制前臂假肢运动的系统,通过手机,用户可以语音控制前臂假肢完成手部保持自平衡、关闭自平衡、上下转、内外转、抓取物体、张开手部、暂停转动等动作,使其能完成吃饭喝水等基本生活所需动作。本系统中设计了一款Android手机离线语音APP,其能在无网络的环境中识别用户的语音,并将识别结果通过手机自带蓝牙传递给前臂假肢的底层控制板。深入探讨了开发手机离线语音APP所需的语音识别理论知识及关键技术、Android开发环境的搭建及Android手机与前臂假肢底层控制板之间的数据通信。其中,Android手机离线语音APP基于PocketSphinx语音识别引擎开发,自主设计前臂假肢底层控制板的相关电路,并制作PCB板,底层控制板的核心芯片选用 STM32F103C8T6。在前臂假肢手部安装压力传感器及滑觉传感器,并分别设计相应的信号调理电路,以检测手部与抓取目标之间是否出现滑移现象,可实现抓取鸡蛋等易碎物品,从而实现假肢手部软抓取功能,其中,滑觉传感器选用PVDF压电薄膜,压力传感器选用A301力敏薄膜传感器。此外,用户在完成喝水等一类动作时,为防止杯中水外撒,假肢手部虎口需要与大地所在平面始终保持平行。为实现此功能,选用了 MPU6050传感器对前臂假肢做准确的姿态估计。其中,选用四元数法及互补滤波算法进行姿态解算,以得到前臂假肢的姿态角。
[Abstract]:In this paper, a system is designed to control the forearm prosthesis motion by Android mobile phone. Through the mobile phone, the user can control the forearm prosthesis to maintain self-balance, close self-balance, turn up and down, turn inside and outside, grab objects. Open your hands, pause, and so on, so that they can complete basic life, such as eating and drinking. In this system, an off-line voice app for Android mobile phone is designed, which can recognize the voice of the user in a networkless environment, and transmit the recognition result to the bottom control board of the forearm prosthesis through the mobile phone itself with Bluetooth. In this paper, the theoretical knowledge of speech recognition and the key technology needed for developing off-line speech APP of mobile phone are discussed, and the data communication between Android mobile phone and the bottom control board of forearm prosthesis is also discussed. The off-line speech APP is based on the PocketSphinx speech recognition engine. The related circuit of the forearm prosthetic bottom control board is designed and the PCB board is made. The core chip of the bottom control board is STM32F103C8T6. The pressure sensor and slip sensor are installed in the forearm prosthetic hand, and the corresponding signal conditioning circuits are designed to detect whether the slippage occurs between the hand and the grab target, so as to realize the grabbing of fragile items such as eggs. The soft grasping function of prosthetic hand can be realized. Among them, the sliding sensor adopts PVDF piezoelectric film and the pressure sensor uses A301 force sensitive film sensor. In addition, in order to prevent water sprinkling in the cup, the mouth of the prosthetic hand should always be parallel to the plane of the earth. In order to realize this function, MPU6050 sensor is used to estimate the posture of forearm prosthesis. Among them, quaternion method and complementary filtering algorithm are used to calculate the attitude of the forearm prosthesis.
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：R496;TP273

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