自主滑动控制灵感来自人类生理学,用于改进共享控制策略
Joana Matos1, Patricia Capsi-Morales2,3, Cristina Piazza2,3
1Faculty of Engineering, University of Porto, Porto, Portugal.
Wearable technologies
|June 18, 2025
概括
这项研究引入了一种改进的假肢手的滑动检测系统,增强了自主抓取. 新型控制器更有效地防止物体滑落,使用更少的力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物力学 生物力学
- 神经修复品是一种神经修复品.
背景情况:
- 在上肢假肢中复制人类手的功能是具有挑战性的,因为用户控制输入和感官反有限.
- 现有的半自主控制策略旨在通过整合传感技术来提高假肢的灵敏度.
- 肌电控制的局限性需要先进的解决方案,以有效地操作假肢手.
研究的目的:
- 为假肢手开发一个改进的低级控制器,专注于滑动检测和自主抓取.
- 通过完善抓握控制策略,提高人工手中的物体持有稳定性.
- 为了减少对用户输入的依赖,在对象操纵过程中保持稳定的抓取.
主要方法:
- 一个共享的控制策略,将掌握控制划分为用户启动的高级控制器和以稳定性为重点的低级控制器.
- 实现了一种使用分布式3D力传感器和摩擦战略的新型滑动模块.
- 带通波用于建立初始稳定的抓取模型,而无需事先的知识.
主要成果:
- 拟议的控制器在防止抓取任务时物体滑落方面表现出有效性.
- 与传统的最先进的方法相比,该系统需要更少的抓取力.
- 定性验证显示,对意外的体重变化有积极的反应,与人类的抓取相似.
结论:
- 新型滑动检测模块增强了假肢手的自主抓取能力.
- 这种方法提供了更稳定,更有效的抓地力,减少了物体滑落的风险.
- 这些发现有助于开发更具功能和直观的上肢假肢.
相关概念视频
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