《机电工程》杂志,月刊( 详细... )
中国标准连续出版物号: ISSN 1001-4551 CN 33-1088/TH
主办单位:浙江省机电集团有限公司
浙江大学
主编:陈 晓
副 主 编:唐任仲、罗向阳(执行主编)
总 经 理:罗向阳
出 版:浙江《机电工程》杂志社有限公司
地 址:杭州市上城区延安路95号浙江省机电集团大楼二楼211、212室
电话Tel:+86-571-87041360、87239525
E-mail:meem_contribute@163.com
国外发行:中国国际图书贸易总公司
订阅:全国各地邮局 国外代号:M3135
国内发行:浙江省报刊发行局
邮发代号:32-68
广告发布登记证:杭上市管广发G-001号
在线杂志 |
当前位置: 机电工程 >>在线杂志 |
三自由度比例控制肌电假手的设计*
作者:唐建友,罗志增 日期:2009-12-30/span> 浏览:3473 查看PDF文档
三自由度比例控制肌电假手的设计*
唐建友,罗志增
(杭州电子科技大学 自动化学院,浙江 杭州 310018)
摘要:针对电动假手的仿生控制问题,给出了一种三自由度实时比例控制肌电假手的设计方案。通过采集残臂上的4路表面肌电信号(SEMG),采用能量时域分析法对信号进行了特征提取,并采用二叉决策树模式分类方法识别得到了手部3个自由度7个动作模式。由单片机构成的信号处理和控制电路,实现了三自由度电动假手的实时仿生控制;并根据表面肌电信号的强弱,采用多路SEMG能量加权法来求取多自由度假手的比例控制系数,实现了对电动假手的比例控制。试验结果表明,基于表面肌电信号的三自由度肌电假手响应速度快,动作准确率达到96%以上。
关键词:表面肌电信号;能量时域分析法;比例控制
中图分类号:R318;R496文献标识码:A文章编号:1001-4551(2009)12-0085-05
Design of threefreedom EMG artificial hand with proportional control
TANG Jianyou, LUO Zhizeng
(College of Automation, Hangzhou Dianzi University, Hangzhou 310018, China)
Abstract: Aiming at the problem of electric artificial hands bionic control, a design of threefreedom artificial hand with realtime and proportional control was proposed. Fourchannel surface electromyography (SEMG) signals were acquired from the amputee stump, then, timedomain analysis of energy was used for the feature extraction of signals, and seven motion patterns of hand were identified by using the pattern classification of binary tree. The signal processing and control circuit which was composed of singlechip computer achieved the realtime bionic control of threefreedom electric artificial hand. And the multichannel signals energy weighted was used to obtain coefficient, the proportional control for multidegree of freedom EMG prosthetic hand was realized, the proportional control of electric artificial hand was achieved according to the strength of SEMG. The experimental results indicate that the threefreedom electric artificial hand based on electromyography has fast response and motions accuracy rate reaches 96%.
Key words: surface electromyography(SEMG); timedomain analysis of energy; proportional control
友情链接