一个强大的假肢手与视觉系统,用于增强人类手握
概括
这项研究介绍了一种视觉驱动的假肢手系统,该系统使用基于空间几何的手势映射和基于运动轨迹回归的抓取意图估计,以实现自然,自适应的抓取. 它在没有侵入性传感器的情况下实现了高的人类化和成功率.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
- 人与计算机的交互
背景情况:
- 假肢手需要人类形态的抓取,以获得更好的用户体验.
- 当前的大脑计算机接口 (BCI) 和肌电图 (EMG) 系统缺乏手势适应性和意图识别.
- 视觉系统可以提高对象感知,但不能提高动态手势控制.
研究的目的:
- 开发一种视觉驱动的假肢手系统,用于自然,动态的抓取.
- 为了克服现有的BCI和基于EMG的假肢手的局限性.
- 为了提高人工手的使用用户体验和功能效率.
主要方法:
- 基于空间几何的手势映射 (SG-GM) 模型使用基于手对象距离的多项式函数来模拟手指关节的角度.
- 基于运动轨迹回归的把握意图估计 (MTR-GIE) 通过手腕轨迹回归和对象细分来预测用户意图.
- 视觉系统与新的手势映射和意图估计算法的集成.
主要成果:
- 实现了高度的人形化,相似度系数R2=0.911和RMSE=2.47°.
- 在3.07±0.41秒快速抓取执行.
- 强大的成功率:单个对象的95.43%和多个对象场景的88.75%.
- 在多对象环境中,MTR-GIE表现出94.35%的意图估计准确度.
结论:
- 拟议的视觉驱动系统可以为假手提供动态手势合成.
- 这种方法消除了对BCI和EMG等侵入性传感器的需求.
- 该系统显著提升了假肢手的现实世界可用性和人形.
相关概念视频
01:33Somatosensation
The somatosensory system relays sensory information from the skin, mucous membranes, limbs, and joints. Somatosensation is more familiarly known as the sense of touch. A typical somatosensory pathway includes three types of long neurons: primary, secondary, and tertiary. Primary neurons have cell bodies located near the spinal cord in groups of neurons called dorsal root ganglia. The sensory neurons of ganglia innervate designated areas of skin called dermatomes.
01:16Muscles of the Forearm that Move the Hand and Fingers
The muscles of the forearm that move the wrist, hand, and digits are numerous and diverse. They can be classified into two groups based on their location and function — the anterior and posterior compartment muscles.
Anterior Compartment
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Anterior Compartment
The anterior compartment muscles originate from the humerus. They primarily function as flexors and are also known as flexor muscles. They typically insert on the carpals, metacarpals, and phalanges. The superficial layer includes the flexor carpi radialis,...