兼顾多动作与轻量化的仿生假肢手设计创成
作者:
作者单位:

作者简介:

通讯作者:

基金项目:

广东省重点领域研发计划项目(202080909020004);深圳市科技计划项目(CIGIZD20200617103002006)

伦理声明:



Design and Fabrication of a Bionic Prosthetic Hand with Multi-Motions and Light Weight
Author:
Ethical statement:

Affiliation:

Funding:

Key- Area Research and Development Program of Guangdong Province (2020B0909020004),and Science and Technology Planning Project of Shenzhen (CJGJZD20200617103002006)

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
    摘要:

    假肢手的动作数量与轻量化之间存在矛盾关系,为兼顾两者之间的平衡,满足假肢手多动作和轻量化的要求,该研究通过分析人手的16种日常抓取动作,设计了一种合理的电机驱动结构。该结构在四指中应用了多关节同时屈曲传动,在拇指中应用了定轨迹适应性传动,掌骨使用可自动切换为弧面和平面的对称弹性串联驱动式传动,以及配置五指的自动伸展,将这些机能融合在假肢手中,仅用3个电机实现了11 种假肢手动作,达到了132.1 g的轻量化设计。该文还通过肌电信号结合神经网络算法,实现了假肢手直觉控制,并验证了其具有良好的抓取稳定性和操作性。

    Abstract:

    It is still a challenge to design a hand prosthesis with a consideration of multi- motions and light weight. In this paper, by analyzing 16 commonly-used motions of human hands, a trade-off plan between weight saving and the number of motions of a hand prosthesis is studied. We determine the functions to be implemented as a constant interlock mechanism of four fingers. An adaptive mechanism is applied for the thumb, and the symmetric series elastic actuator is used for the arching of metacarpal. With such a design, a prosthetic hand was designed just using three motors embedded in the palm, which has weight of 132.1 g and could perform 11 motions. The grasping stability and operability of the hand prosthesis were confirmed with intuitive myoelectric control based on a neural network algorithm in the subject experiments.

    参考文献
    相似文献
    引证文献
引用本文

引文格式
雍旭,景晓蓓,矢吹佳子,東鄉俊太,横井浩史,李光林.兼顾多动作与轻量化的仿生假肢手设计创成 [J].集成技术,2022,11(4):31-43

Citing format
YONG Xu, JING Xiaobei, YABUKI Yoshiko, TOGO Shunta, YOKOI Hiroshi, LI Guanglin. Design and Fabrication of a Bionic Prosthetic Hand with Multi-Motions and Light Weight[J]. Journal of Integration Technology,2022,11(4):31-43

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
历史
  • 收稿日期:
  • 最后修改日期:
  • 录用日期:
  • 在线发布日期: 2022-07-20
  • 出版日期: