基于力触觉感知与电刺激反馈的灵巧假手

doi:10.3901/JME.2019.11.010

机械工程学报 ›› 2019, Vol. 55 ›› Issue (11): 10-18.doi: 10.3901/JME.2019.11.010

• 特邀专栏：共融机器人 • 上一篇下一篇

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基于力触觉感知与电刺激反馈的灵巧假手

胡旭晖, 石珂, 祝佳航, 宋爱国

东南大学生物电子学国家重点实验室南京 210096

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:
国家自然科学基金资助项目（91648206）。

Dexterous Prosthetic Hand with Force Perception and Electrical Stimulation

HU Xuhui, SHI Ke, ZHU Jiahang, SONG Aiguo

State Key Laboratory of Bioelectronics, Southeast University, Nanjing 210096

Received:2018-10-12 Revised:2019-03-04 Online:2019-06-05 Published:2019-06-05

摘要/Abstract

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。

关键词: 电刺激反馈, 力触觉感知, 灵巧假手

Abstract: The structural optimization, force tactile perception and the reconstruction of feedback function of a typical human-robot-environment synergic robot such as bio-electromechanical integrated dexterous manipulation prosthesis are studied. A method of cross-four-bar linkage parameter optimization for underactuated finger mechanism design is proposed, this method achieves the optimal trajectory of finger and the maximum ratio of PIP to MCP. The integrated design method of prosthetic finger and flexible pressure sensor is proposed to realize real-time force and tactile perception for grasping object. The method of tactile feedback of fingertip force based on electric stimulation is proposed to reproduce the grasp situation and grip strength of the prosthesis to increase the operator's sense of ontology. The simulation results show that the proposed method can improve the grasping ability of fingers. Nine healthy subjects and one forearm amputee were performed with dexterous hand control experiment. The experimental results showed that the proposed fingertip force tactile perception method could assist the subjects to complete fine grasp control. Compared with vibration stimulation, the use of electric stimulation as a force and tactile sense feedback device has better proprioception effect, and significantly improves the success rate of using the artificial hand to complete the grabbing task under visual obstruction.

Key words: dexterous prosthetic hand, electric stimulation feedback, force tactile perception

中图分类号:

TP242

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.

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基于力触觉感知与电刺激反馈的灵巧假手

Dexterous Prosthetic Hand with Force Perception and Electrical Stimulation

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