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假手控制方法的研究一直是假肢研究技术的一个热点问题。针对现有皮肤表面电信号作为控制源的假手存在的问题,本系统采用前臂上肢肌肉膨胀收缩产生的压力信号作为控制信息源,设计了基于肌肉力(FMG)信号的假手控制系统,包括信号采集调理、微控制器控制、电机驱动等部分。通过采集残臂端两路FMG信号,提取信号的时域信息并采用阈值算法实现了手部2个自由5个动作。根据FMG信号均值的大小,改变假手驱动电路中PWM的占空比,从而实现电动假手速度的比例调节。实验结果表明本控制系统能够有效控制假手执行动作,实现速度的调节。另外,利用LabVIEW搭建了FMG信号采集标定平台,实现了FMG信号的实时数据采集和标定。
Research on artificial hand control method has been a hot issue in the research of artificial limbs. In order to solve the existing problem of skin surface electrical signal as the control source, this system uses the pressure signal generated by forearm muscle expansion and contraction as the control information source and designs the artificial hand control system based on the muscle force (FMG) signal, including signal acquisition Conditioning, micro-controller control, motor drive and other parts. By collecting two FMG signals of the remnant side, the time domain information of the signal is extracted and two free five actions of the hand are realized by using the threshold algorithm. According to the average value of the FMG signal, change the duty cycle of the PWM in the prosthetic hand drive circuit, so as to realize the proportional adjustment of the speed of the electric hand. The experimental results show that the control system can effectively control the execution of artificial hand to achieve the speed adjustment. In addition, using LabVIEW to build a FMG signal acquisition and calibration platform to achieve the FMG signal real-time data acquisition and calibration.