机械工程学报 ›› 2019, Vol. 55 ›› Issue (11): 10-18.doi: 10.3901/JME.2019.11.010
胡旭晖, 石珂, 祝佳航, 宋爱国
收稿日期:
2018-10-12
修回日期:
2019-03-04
出版日期:
2019-06-05
发布日期:
2019-06-05
通讯作者:
宋爱国(通信作者),男,1968年出生,博士,教授,博士研究生导师。主要研究方向为机器人传感与控制技术、信号处理、遥操作技术等。E-mail:a.g.song@seu.edu.cn
作者简介:
胡旭晖,男,1994年出生,博士研究生。主要研究方向为灵巧手、生物信号识别、功能性电刺激。E-mail:xuhui.hu@seu.edu.cn
基金资助:
HU Xuhui, SHI Ke, ZHU Jiahang, SONG Aiguo
Received:
2018-10-12
Revised:
2019-03-04
Online:
2019-06-05
Published:
2019-06-05
摘要: 针对生机电一体化灵巧操作假手这类典型共融机器人,开展结构优化、力触觉感知和临场感反馈功能重建的研究。为此,提出了一种用于欠驱动手指机构设计的交叉四连杆参数优化方法,该方法实现了手指运动轨迹最优、近指关节(PIP)扭矩与掌指关节(MCP)扭矩之比最大;提出了义肢手指与柔性压力传感器的集成设计方法,实现假手对抓握物体的实时力触觉感知;提出了基于电刺激的指端力触觉临场感反馈方法,实现对义肢抓握情况和握力的再现,增加操作者的本体感。该假手手指运动学与动力学仿真结果表明,所提出的连杆参数优化方法能够提升手指的抓握能力。对9名肢体健全受试者与1名前臂截肢患者进行灵巧假手控制试验,试验结果表明,所提出的指尖力触觉感知方法能够很好辅助受试者完成精细抓握控制;使用电刺激方式作为力触觉临场感反馈器具有更好的本体感知效果。同时,明显提升受试者在视觉受阻碍状况下使用假手完成抓取任务的成功率。
中图分类号:
胡旭晖, 石珂, 祝佳航, 宋爱国. 基于力触觉感知与电刺激反馈的灵巧假手[J]. 机械工程学报, 2019, 55(11): 10-18.
HU Xuhui, SHI Ke, ZHU Jiahang, SONG Aiguo. Dexterous Prosthetic Hand with Force Perception and Electrical Stimulation[J]. Journal of Mechanical Engineering, 2019, 55(11): 10-18.
[1] KRAGTEN G A,HERDER J L. The ability of underactuated hands to grasp and hold objects[J]. Mechanism and Machine Theory,2010,45(3):408-425. [2] BUTTERFAß J,GREBENSTEIN M,LIU H,et al. DLR-Hand Ⅱ:Next generation of a dextrous robot hand[C]//Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164). IEEE,2001:109-114. [3] OMARKULOV N,TELEGENOV K,ZEINULLIN M,et al. Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics[C]//201537th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). IEEE,2015:2474-2477. [4] CONTROZZI M,CLEMENTE F,BARONE D,et al. The SSSA-MyHand:A dexterous lightweight myoelectric hand prosthesis[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering,2017,25(5):459-468. [5] CHOI K Y,AKHTAR A,BRETL T. A compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant[C]//2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE,2017:6694-6699. [6] RODRIGUEZ N E N,CARBONE G,CECCARELLI M. Optimal design of driving mechanism in a 1-DOF anthropomorphic finger[J]. Mechanism and Machine Theory,2006,41(8):897-911. [7] HUA L,SHENG X,ZHANG D,et al. Towards the analysis and optimization of underactuated hands for effective grasp[J]. International Journal of Humanoid Robotics,2016,13(3):1650004. [8] CHENG M,JIANG L,NI F,et al. Design of a highly integrated underactuated finger towards prosthetic hand[C]//2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). IEEE,2017:1035-1040. [9] ZHANG T,WANG X Q,JIANG L,et al. Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic applications[J]. Robotica,2016,34(10):2291-2308. [10] XIONG C H,CHEN W R,SUN B Y,et al. Design and implementation of an anthropomorphic hand for replicating human grasping functions[J]. IEEE Transactions on Robotics,2016,32(3):652-671. [11] BELTER J T,SEGIL J L,DOLLAR A M,et al. Mechanical design and performance specifications of anthropomorphic prosthetic hands:A review[J]. Journal of Rehabilitation Research & Development,2013,50(5):599-618. [12] CATALANO M G,GRIOLI G,FARNIOLI E,et al. Adaptive synergies for the design and control of the Pisa/ⅡT SoftHand[J]. The International Journal of Robotics Research,2014,33(5):768-782. [13] WU C,SONG A,LING Y,et al. A control strategy with tactile perception feedback for EMG prosthetic hand[J]. Journal of Sensors,2015(2015):1-15. [14] CHAI G,SUI X,LI S,et al. Characterization of evoked tactile sensation in forearm amputees with transcutaneous electrical nerve stimulation[J]. J. Neural Eng.,2015,12(6):066002.1-14. [15] 金世俊,黄惟一,宋爱国. 遥作机器人触觉临场感的电触觉实现[J]. 机器人,1997,19(5):333-337. JIN Shijun,HUANG Weiyi,SONG Aiguo. Electro-tactile realization of telepresence robot touch sense[J]. Robot,1997,19(5):333-337. [16] 帅立国,况迎辉,宋爱国,等. 背指式指端电触觉再现装置及其性能评价[J]. 工业仪表与自动化装置,2000(6):25-27. SHUAI Liguo,KUANG Yinghui,SONG Aiguo,et al. Back-finger fingertip electric tactile reproducing device and its performance evaluation[J]. Industrial Instrumentation Automation,2000(6):25-27. [17] 徐飞,张定国,许恒. 电触觉的皮肤神经机理仿真及实验验证[J]. 中国生物医学工程学报,2014,33(1):22-27. XU Fei,ZHANG Dingguo,XU Heng. Simulation and experimental verification of skin nerve mechanism of electrical touch[J]. Chinese Journal of Biomedical Engineering,2014,33(1):22-27. [18] 张定国,朱向阳. 功能性电刺激研究在中国的回顾、现状与展望[J]. 中国康复理论与实践,2010,16(9):848-850. ZHANG Dingguo,ZHU Xiangyang. Review,status quo and prospect of functional electrical stimulation research in China[J]. Chinese Rehabilitation Theory and Practice,2010,16(9):848-850. [19] CHAI G,ZHANG D,ZHU X. Developing non-somatotopic phantom finger sensation to comparable levels of somatotopic sensation through user training with electrotactile stimulation[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering,2017,25(5):469-480. [20] ZHANG D,XU H,SHULL P B,et al. Somatotopical feedback versus non-somatotopical feedback for phantom digit sensation on amputees using electrotactile stimulation[J]. Journal of Neuroengineering and Rehabilitation,2015,12(1):44-54. [21] 胡旭晖,宋爱国,李会军. 基于表面肌电图像的灵巧假手控制系统[J]. 控制理论与应用,2018,35(12):1707-1714. HU Xuhui,SONG Aiguo,LI Huijun. Dexterous robot hand control system based on surface electromyography image[J]. Control Theory & Applications,2018,35(12):1707-1714. |
[1] | 陈栋, 李世其, 王峻峰, 何旺, 丰意. 并联机构的运动学多目标轨迹规划方法[J]. 机械工程学报, 2019, 55(15): 163-173. |
[2] | 张兴, 牟德君, 张一同, 李维奇, 王洪瑞. 基于广义杆组对多环路三移一转位移输出机构的型综合[J]. 机械工程学报, 2019, 55(15): 154-162. |
[3] | 山显雷, 程刚, 陈世彪. 考虑力补偿的2(3PUS+S)并联机器人主动关节同步控制[J]. 机械工程学报, 2019, 55(11): 46-52. |
[4] | 孙学敏, 姚燕安, 李锐明, 刘然, 魏超然. 一类平面对心折展机构的构造方法[J]. 机械工程学报, 2019, 55(11): 176-185. |
[5] | 周星, 黄石峰, 朱志红. 六关节工业机器人TCP标定模型研究与算法改进[J]. 机械工程学报, 2019, 55(11): 186-196. |
[6] | 孙海宁, 唐晓强, 王晓宇, 崔志伟, 侯森浩. 基于索驱动的大型柔性结构振动抑制策略研究[J]. 机械工程学报, 2019, 55(11): 53-60. |
[7] | 李鹏越, 田建东, 王国霖, 李小毛, 唐延东, 吴成东. 面向机器人环境共融的图像去雪算法[J]. 机械工程学报, 2019, 55(11): 98-104. |
[8] | 邢志伟, 朱晓蕊, 何超. 基于行人行为学习的机器人同时定位与可通行区域制图[J]. 机械工程学报, 2019, 55(11): 36-45. |
[9] | 战强, 李伟. 球形移动机器人的研究进展与发展趋势[J]. 机械工程学报, 2019, 55(9): 1-17. |
[10] | 王艺, 蔡英凤, 陈龙, 王海, 何友国, 李健. 基于模型预测控制的智能网联汽车路径跟踪控制器设计[J]. 机械工程学报, 2019, 55(8): 136-144,153. |
[11] | 孙志毅, 张韵悦, 李虹, 孙前来, 王银. 挖掘机的最优时间轨迹规划[J]. 机械工程学报, 2019, 55(5): 166-174. |
[12] | 李满宏, 张明路, 张建华, 田颖, 马艳悦. 基于增强学习的六足机器人自由步态规划[J]. 机械工程学报, 2019, 55(5): 36-44. |
[13] | 董悫, 张立建, 易旺民, 万毕乐, 孟少华, 胡瑞钦. 基于动力学前馈的空间机器人多销孔装配力柔顺控制[J]. 机械工程学报, 2019, 55(4): 207-217. |
[14] | 王志瑞, 姚燕安, 张迪, 刘洋, 张林. 冗余驱动全R副四面体移动机器人[J]. 机械工程学报, 2019, 55(3): 18-26. |
[15] | 訾斌, 尹泽强, 李永昌, 赵涛. 基于YOLO模型的柔索并联机器人移动构件快速定位方法[J]. 机械工程学报, 2019, 55(3): 64-72. |
阅读次数 | ||||||
全文 |
|
|||||
摘要 |
|
|||||