仿生假手机构设计与控制方法研究进展

Review for structure design and control method of bionic prosthesis hand

中文关键词  仿生假手  假手结构设计  非理想因素  运动意图识别  控制策略

英文关键词  bionicprosthesis hand  prosthesis hand structure design  non-ideal conditions  motion intention recognition  control strategy

中文摘要

      针对仿生假手的机构设计、意图识别和人机交互控制算法的国内外研究现状与发展趋势.首先,基于驱动 器安装位置,介绍仿生假手机械机构的发展现状;其次,基于电极偏移、肌肉疲劳和个体差异等非理想因素讨论运 动意图识别模型的研究方法,分析基于多源信号的意图识别方法优点与不足之处;再次,研究仿生假手系统人机交 互控制算法,阐明各类算法的优缺点;最后,给出了仿生假手研究的难点问题和未来工作计划,基于多源信号融合与 感知,展望仿生假手机械机构、手部主动运动意图识别和人机交互控制算法的研究思路.

英文摘要

      The research status and development trend are investigated for the bionic prosthesis hand mechanism design, intention recognition and human-robot interaction control algorithm. In the first place, the development status for the mechanical structure of bionic prosthesis hand is introduced, which is based on the installation position of drive systems. Besides, on account of different non-ideal conditions such as electrode deviation, muscle fatigue and individual difference, the methods for motion intention recognition model which based on multi-source signals, the shortcomings and excellences of the existing approaches are discussed. Furthermore, the advantages and disadvantages for the control algorithms are verified through discussing the human-robot interaction controller of bionic prosthesis hand. Eventually, we propose the difficult problems and future outlooks for bionic prosthesis hand. Moreover, the expectation ideas are given for the bionic prosthesis hand mechanical structure, hand active movement intention, and human-machine interaction controller which are combined with multi-source signal fusion and sensing.