假肢手的新触摸触发控制策略:设计和性能验证
概括
一个新的触摸触发系统通过使用触摸信号而不是表面电肌图 (sEMG) 信号来改善假肢手的控制. 这种方法提高了抓取稳定性,减少了用户的疲劳,性能优于传统的EMG模式识别.
科学领域:
- 生物医学工程 生物医学工程
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
背景情况:
- 基于表面电肌图 (sEMG) 的假肢手控制面临挑战,原因是截肢者的信号变化和有限的残留肌肉功能.
- 触觉信号为对象操纵提供了至关重要的触觉反,为假肢控制提供了EMG的潜在替代方案或补充.
研究的目的:
- 提出和验证一种新的触觉触发方法,用于识别动作意图和控制假肢手.
- 为了比较触摸触发系统的性能与传统的EMG模式识别 (EMG-PR) 控制.
主要方法:
- 实现了一个有限状态机器 (FSM),使用多轴触摸传感器用于触摸触发的运动意图识别.
- 开发了一种集成的假肢手掌控制系统,采用触摸触发方法.
- 进行了验证测试,对有能力和跨辐射截肢的参与者进行了验证,与EMG-PR.比较.
主要成果:
- 触摸触发的控制策略证明了有效的假肢手的打开/关闭控制,能够稳定地抓住各种物体.
- 与EMG-PR.相比,这种方法显著减少了由于手臂姿势变化而导致的性能恶化.
- 该系统表现出卓越的抓取稳定性,并避免了用户肌肉疲劳.
结论:
- 触摸触发方法是一个有希望的,稳定的,和用户友好的假肢手掌控策略.
- 它可以作为非EMG控制范式或作为肌电控制的补充系统.
- 该方法解决了当前基于EMG的假肢控制系统的关键局限性.
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