CN104665962B - Wearable function strengthens machine hand system and its assisted finger and control method - Google Patents
Wearable function strengthens machine hand system and its assisted finger and control method Download PDFInfo
- Publication number
- CN104665962B CN104665962B CN201510062001.3A CN201510062001A CN104665962B CN 104665962 B CN104665962 B CN 104665962B CN 201510062001 A CN201510062001 A CN 201510062001A CN 104665962 B CN104665962 B CN 104665962B
- Authority
- CN
- China
- Prior art keywords
- finger
- motor
- joint
- assisted
- rope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Prostheses (AREA)
Abstract
The invention provides a kind of wearable function strengthens machine hand system and its assisted finger, assisted finger rope drives, and forms power sensing using with the spring for driving rope to be connected；Annular myoelectricity collection array is worn on user forearm, the information of motion and power for estimated service life person's wrist and finger, and the behavior according to the position and force information extracted to user is intended to be estimated, so as to make corresponding decision-making, auxiliary or enhancing finger movement function.Passive type arm mechanism shares the power that human body wrist and finger bear, and in the case where human normal activity is not affected, can play a part of power-assisted and strengthen finger function.The control method of above-mentioned machine hand system is provided simultaneously.Present configuration is compact, lightweight, compliance, and safety is good, can strengthen hand function to greatest extent, makes the natural hand of user be engaged in other tasks, has at aspects such as industry, agricultural, domestic, amusements and preferably uses potentiality.
Description
Technical field
The present invention relates to wearable robot system, specifically a kind of wearable function enhancing based on myoelectricity interface
Machine hand system and its assisted finger and control method, to strengthen singlehanded function.
Background technology
Wearable device and man-machine coordination roboticses day by day become study hotspot in the last few years, by means of people's sheet
Come function for just having etc., Wearable device such as exoskeleton robot can make man-machine compatibility, be widely used in power-assisted, health
Multiple, the field such as amusement strengthens or has expanded Personal Skills, and man-machine coordination operation is more closely and practical.
Existing Wearable device miscellaneous, main to provide strength support or aid at present.But both provide
Power-assisted again can man-machine coordination complete a certain task equipment it is actually rare, although single power assistive device or rehabilitation equipment play
Power-assisted effect, but it is also possible that limiting the performance of other functions, other power assistive device, can to people because volume is big
Activity space brings inconvenience, thus, the wearable device of dexterous type both needs to meet power-assisted demand, it is also desirable to meet man-machine association
Same requirement, further needs exist for small volume, energy consumption, low cost.
Through finding to the retrieval of existing technical literature：
Chinese utility model patent publication number：202537871 U of CN, title：A kind of hand and wrist exoskeleton rehabilitation instruction
Practice device.The ectoskeleton equipment is mainly used in rehabilitation, and has power assisting device, but power assisting device is only secured to forearm, can be right
The ancon of people produces extra heavy burden, does not utilize life-time service.
Chinese utility model patent publication number：200954207 Y of CN, title：It is a kind of to be based on ectoskeletal arm rehabilitation
Device.There is provided a kind of exercising apparatus for recovery of upper limb, but mechanism is complicated, and portability is poor, and control mode is single, it is impossible to comment in real time
Estimate human body behavior intention, it is impossible to man-machine coordination decision-making is provided, is unfavorable for user operation.
The content of the invention
The present invention is not enough present on prior art, there is provided a kind of wearable function based on myoelectricity control strategy
Strengthen machine hand system and its assisted finger and control method, be applied not only to power-assisted, and be used for man-machine coordination operation.
The present invention is achieved by the following technical solutions.
According to an aspect of the invention, there is provided a kind of assisted finger, including imitation human finger, finger base, motor a2,
Motor a3, motor a4, wherein, the imitation human finger is driven using driving rope, and is had clamping DOF, bent and stretched degree of freedom and return
Receive degree of freedom three degree of freedom；The motor a4 directly with imitation human finger drive connection, for realizing being recovered from for imitation human finger
By spending；Decelerator is connected with the rotating shaft of the motor a4, one is connected with the output shaft of the decelerator for realizing imitating
The rotating shaft of finger clamping DOF, the imitation human finger are sequentially connected rotating shaft and motor a2 by driving rope, described turn
Axle and motor a2 drive connections；The imitation human finger is restricted and motor a3 drive connections by driving, for realizing apery handss
The bending degree of freedom of finger；
The imitation human finger is connected in finger base；The finger base includes panel mounting surface c2, wrist connection
Device c3 and modularized joint interface c1, wherein：
Control panel, the control panel and motor a2, motor a3, motor a4 are installed on the panel mounting surface c2
Control connection；
The wrist adapter c3 is provided with user's wrist；
Three Degree Of Freedom modularized joint is installed on the modularized joint interface c1；
The annexation of the modularized joint interface c1, panel mounting surface c2, wrist adapter c3 and imitation human finger
Or driving relationship is specially：The modularized joint interface c1 is provided with joint adpting flange, and the Three Degree Of Freedom modularity passes through
Joint adpting flange is fastenedly connected with finger base；The user's wrist is provided with least one user's wrist geometry adaptable interface,
Different user demands are adapted to by adjusting interface radius；The panel mounting surface c2 is provided with the spiral shell for control panel connection
Pit；The imitation human finger is connected with Three Degree Of Freedom modularized joint by driving rope, pretension part and finger adpting flange,
Move which.
Preferably, code-disc is respectively equipped with the motor a2, motor a3 and motor a4, for controlling the position of imitation human finger
Put.
Preferably, rope driving pulley p1 is provided between the rotating shaft and motor a2；The imitation human finger and driving electricity
Rope driving pulley p2 is provided between machine a3；It is described to drive rope to bypass rope driving pulley p1 respectively and the driving pulley p2 that restricts, and respectively
Form closed-loop path；
The rope driving pulley p1 and rope driving pulley p2 are separately fixed in rotating shaft.
Preferably, the assisted finger also includes：Position sensor and force transducer, wherein：
A position sensor is equipped with each finger-joint of the apery and its finger, for detecting that finger is closed
Section positional information, and then obtain the angle of bend of each finger-joint；
The force transducer includes and the spring for driving rope to be connected and the line for current potential produced by detection spring deformation
Property potentiometer, obtains the deflection of spring by the current potential for detecting, and then obtains the size of each finger-joint power/torque.
Preferably, the imitation human finger includes symmetrically arranged two bar linkage structures, wherein, each bar linkage structure is wrapped
First connecting rod and second connecting rod are included, is connected by articulated manner between the first connecting rod and second connecting rod.
According to the second aspect of the invention, there is provided a kind of wearable function strengthens machine hand system, including adaptive
Arm coupling b1, upper arm link b2, forearm link b4, annular myoelectricity collection array and above-mentioned assisted finger before answering, wherein：
Before the self adaptation, arm coupling b1 is connected with upper arm link b2 by ball-joint, and upper arm link b2 is by hinge
Connection mechanism b3 is connected with forearm link b4, and forearm link b4 is by ball-joint interface b5 and the wrist of assisted finger finger base
Portion's adapter c3 connections；
The annular myoelectricity collection array is arranged in forearm link；
The adjustable in length of upper arm link b2 and forearm link b4.
Preferably, the rotating shaft of the linkwork b3 is provided with code-disc, for recording human body elbow position information, is structure
People and the coordination system provide input information.
According to the third aspect of the present invention, there is provided a kind of wearable function strengthens the controlling party of machine hand system
But method, using Isometric (isometric contraction) control mode based on myoelectricity, does not move in user hand there are muscle receipts
In the case of contracting, the electromyographic signal that array acquisition is arrived is gathered by annular myoelectricity, through pattern recognition, judge user motion meaning
Figure, realizes preliminary gesture control.
Preferably, also comprise the steps：By the rigidity assessment to imitation human finger and continuous estimation, apery is realized
The impedance control of finger and continuous position control, and each finger-joint power/torque and motor a2 with force transducer acquisition,
The angle of bend of each finger-joint of the code-disc control of motor a3 and motor a4, builds specific man-machine coordination control strategy.
Preferably, the impedance control is specially：The force information and annular myoelectricity obtained by force transducer gathers array
The electromyographic signal of acquisition carries out information fusion, to obtain corresponding rigidity sequence, and for controlling finger rigidity, realizes man-machine association
With control；
The continuous position control is specially：Based on the continuous estimation of electromyographic signal, build curved based on finger-joint
Linear relationship between bent angle and electromyographic signal.
The operation principle of invention is：Assisted finger is driven using tendon (driving rope), and foldable, each joint has position to pass
Sensor, for detecting joint position information；And sensed using the power made with the spring for driving rope to be connected based on displacement measurement
Device, which estimates each joint power/torque size according to the deformation of spring；Before annular myoelectricity collection array is worn on user
Arm, the information of motion and power for estimated service life person's wrist and finger, and according to the position and force information extracted to user
Behavior be intended to be estimated, so as to make corresponding decision-making, auxiliary or strengthen finger movement function.Passive type arm mechanism
Including：Arm coupling, upper arm link, forearm link before self adaptation, for sharing the power that human body wrist and finger bear, by ball
Joint is connected with wrist adapter, connects forearm and upper arm by articulated manner, so as in the feelings for not affecting human normal activity
Under condition, power-assisted can be played a part of and strengthen finger function.
Compared with prior art, the present invention has the advantages that：
1st, imitation human finger is driven using rope, with three degree of freedom, is realized by modularized joint interface c1, is reduced handss
The weight and volume of finger, with it is light, dexterous the characteristics of, suitable long-time is worn.
2nd, three degree of freedom is allocated as follows：One clamping DOF, for clamping object；One finger flex degree of freedom,
For adapting to different contour of object and increasing the space of finger；One recovery degree of freedom, when not working so as to finger, edge
The forearm for people is folded, and reduction takes up room.
3rd, the adjustable length of upper arm link and forearm link, to adapt to the user's request of different elbow length.
4th, wearable function enhancing robot arm system structure is compact, and lightweight, compliance, safety are good, can be with maximum
The enhancing hand function of limit, so as to the natural hand that can make user is engaged in other tasks.
5th, wearable function strengthens machine hand system, using myoelectricity control mode, the power letter obtained by force transducer
Breath and myoelectricity gather the electromyographic signal of array acquisition and carry out information fusion, realize man-machine coordination control, are easy to user control behaviour
Make.
6th, the present invention is with a wide range of applications at the aspect such as industry, agricultural, domestic, amusement.
Description of the drawings
Detailed description non-limiting example made with reference to the following drawings by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon：
Fig. 1 strengthens robot arm overall system architecture schematic diagram for wearable function of the invention；
Fig. 2 is wrist-elbow boosting mechanism figure；
Fig. 3 is the motor setting up structure figure for realizing Three Degree Of Freedom；
Fig. 4 is finger base exploded view；
Single bar linkage structure schematic diagrams of the Fig. 5 for imitation human finger；
Fig. 6 is driving rope wiring diagram；
Fig. 7 is position sensor, force transducer and annular myoelectricity collection array functional figure；
Fig. 8 is the control mode total figure based on myoelectricity；
Fig. 9 is using the Isometric control method flow charts based on myoelectricity；
Figure 10 is continuous position control method flow chart.
In figure：1 is first connecting rod, and 2 is second connecting rod, and a1 is first connecting rod driving pulley, and a2 is motor a2, and a3 is motor
A3, a4 are motor a4, and a5 is motor a2 drivers, and a6 is motor a4 controllers, and a7 is motor a3 controllers, and a8 is that myoelectricity is gathered
Array, b1 are arm coupling b1 before self adaptation, and b2 is upper arm link b2, and b3 is linkwork b3, and b4 is forearm link b4, and b5 is
Ball-joint interface b5, p1 are that rope driving pulley p1, p2 are restricted driving pulley p2 respectively, and c1 is modularized joint interface c1, and c2 is control
Making sheet mounting surface c2, c3 are wrist adapter c3, and d1 drives pre- bearing up pulley for rope, and j1 is the first joint of finger, and j2 is closed for finger second
Section, j3 are the 3rd joint of finger.
Specific embodiment
Below embodiments of the invention are elaborated：The present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process.It should be pointed out that to one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention
Shield scope.
Embodiment 1
Present embodiments provide a kind of assisted finger, including imitation human finger, finger base, motor a2, motor a3, motor
A4, wherein, the imitation human finger is driven using driving rope, and is had clamping DOF, bent and stretched degree of freedom and reclaim degree of freedom three
Individual degree of freedom；The motor a4 directly with imitation human finger drive connection, for realizing the recovery degree of freedom of imitation human finger；The electricity
Decelerator is connected with the rotating shaft of machine a4, one is connected with the output shaft of the decelerator for realizing imitation human finger clamping certainly
By the rotating shaft spent, the imitation human finger is sequentially connected rotating shaft and motor a2, the rotating shaft and motor by driving rope
A2 drive connections；The imitation human finger is restricted and motor a3 drive connections by driving, for realizing the bending freedom of imitation human finger
Degree；
The imitation human finger is connected in finger base；The finger base includes panel mounting surface c2, wrist connection
Device c3 and modularized joint interface c1, wherein：
Control panel, the control panel and motor a2, motor a3, motor a4 are installed on the panel mounting surface c2
Control connection；
The wrist adapter c3 is provided with user's wrist；
Three Degree Of Freedom modularized joint is installed on the modularized joint interface c1；
The annexation of the modularized joint interface c1, panel mounting surface c2, wrist adapter c3 and imitation human finger
Or driving relationship is specially：The modularized joint interface c1 is provided with joint adpting flange, and the Three Degree Of Freedom modularity passes through
Joint adpting flange is fastenedly connected with finger base；The user's wrist is provided with least one user's wrist geometry adaptable interface,
Different user demands are adapted to by adjusting interface radius；The panel mounting surface c2 is provided with the spiral shell for control panel connection
Pit；The imitation human finger is connected with Three Degree Of Freedom modularized joint by driving rope, pretension part and finger adpting flange,
Move which.
Further, code-disc is respectively equipped with the motor a2, motor a3 and motor a4, for controlling the position of imitation human finger
Put.
Further, rope driving pulley p1 is provided between the rotating shaft and motor a2；The imitation human finger and driving
Rope driving pulley p2 is provided between motor a3；It is described to drive rope to bypass rope driving pulley p1 respectively and the driving pulley p2 that restricts, and point
Closed-loop path is not formed；
The rope driving pulley p1 and rope driving pulley p2 are separately fixed in rotating shaft.
Further, the assisted finger also includes：Position sensor and force transducer, wherein：
A position sensor is equipped with each finger-joint of the apery and its finger, for detecting that finger is closed
Section positional information, and then obtain the angle of bend of each finger-joint；
The force transducer includes and the spring for driving rope to be connected and the line for current potential produced by detection spring deformation
Property potentiometer, obtains the deflection of spring by the current potential for detecting, and then obtains the size of each finger-joint power/torque.
Further, the imitation human finger includes symmetrically arranged two bar linkage structures, wherein, each bar linkage structure is equal
Including first connecting rod and second connecting rod, connected by articulated manner between the first connecting rod and second connecting rod.
In the present embodiment：
Imitation human finger is driven using rope, with three degree of freedom, is realized by modularized joint interface c1, is reduced finger
Weight and volume, it is light, it is dexterous.
Three degree of freedom is allocated as follows：One clamping DOF, for clamping object；One finger flex degree of freedom, uses
In the space for adapting to different contour of object and increase finger；One recovery degree of freedom, when not working so as to finger, along
The forearm of people is folded, and reduction takes up room.
The implementation of three degree of freedom is as follows：Motor a4 directly drives finger, is mainly used in folding finger and expands handss
The space of finger；The connection reducer in the rotating shaft of a4 motors, connecting one on reducer output shaft is used for clamping DOF
Rotating shaft, by the driving pulley p1 that restricts realizing, motor is a2；Motor a3 connects pulley p2, and the bending for finger is transported
It is dynamic, code-disc is respectively arranged with three described motors, for controlling the position of finger.
Finger base is as shown in figure 4, including panel mounting surface c2, wrist adapter c3, modularized joint interface c1.
Force transducer includes spring and potentiometer, and spring is connected on driving rope, and the actuator of force transducer is spring,
The current potential produced by the deformation of potentiometer detection spring, and then the deflection of spring is obtained, obtain the power/torque of imitation human finger
Size.
Drive the winding mode of rope as shown in fig. 6, every kind of winding mode constitutes a closed-loop path, complete a kind of apery
The motion of finger.
The first connecting rod and second connecting rod of each bar linkage structure of imitation human finger is connected by articulated manner, fixed in rotating shaft
Rope driving pulley, realizes the motion of bar linkage structure by driving pulley coiling of restricting.
Embodiment 2
Present embodiments providing a kind of wearable function strengthens machine hand system, including arm coupling b1 before self adaptation,
The assisted finger that upper arm link b2, forearm link b4, annular myoelectricity collection array and embodiment 1 are provided, wherein：
Before the self adaptation, arm coupling b1 is connected with upper arm link b2 by ball-joint, and upper arm link b2 is by hinge
Connection mechanism b3 is connected with forearm link b4, and forearm link b4 is by ball-joint interface b5 and the wrist of assisted finger finger base
Portion's adapter c3 connections；
The annular myoelectricity collection array is arranged in forearm link；
The adjustable in length of upper arm link b2 and forearm link b4.
Further, the rotating shaft of the linkwork b3 is provided with code-disc, for recording human body elbow position information, is structure
Build people and the coordination system provides input information.
The wearable function that the present embodiment is provided strengthens machine hand system, its control method, using based on myoelectricity
Isometric (isometric contraction) control mode, in the case of user hand is not moved and still there is muscle contraction, by annular
The electromyographic signal that myoelectricity collection array acquisition is arrived, through pattern recognition, judges user motion intention, realizes preliminary gesture control
System.
Further, also comprise the steps：By the rigidity assessment to imitation human finger and continuous estimation, realize imitative
The impedance control of finger and continuous position control, and each the finger-joint power/torque and motor with force transducer acquisition
The angle of bend of each finger-joint of the code-disc control of a2, motor a3 and motor a4, builds specific man-machine coordination and controls plan
Slightly.
Further, the impedance control is specially：The force information and annular myoelectricity obtained by force transducer gathers battle array
The electromyographic signal that row are obtained carries out information fusion, to obtain corresponding rigidity sequence, and for controlling finger rigidity, realizes man-machine
Collaborative Control；
The continuous position control is specially：Based on the continuous estimation of electromyographic signal, build curved based on finger-joint
Linear relationship between bent angle and electromyographic signal.
The control method that the present embodiment is provided includes following three kinds of control models：
- simple gesture control model：
By the gesture identification of electromyographic signal, user's hand gesture is obtained, as the control signal of mechanical finger, realize letter
The actions such as single switching manipulation, such as folding, pitching.Its control principle is as shown in Figure 9.
In Fig. 9, signal dividing method is the folded window that the electromyographic signal for detecting is divided into 200ms length, and increasing lengths are
50ms；Feature extraction adopts time domain autoregression characteristic model parameter, or wavelength WL (Waveform Length), average absolute
The features such as value MAV (Mean Absolute Value).Feature Dimension Reduction adopts PCA PCA (Principal
Component Analysis), sorting algorithm adopts Fisher face LDA (Linear Discriminative
Analysis)。
- continuous position control model：
Continuous estimation of the pattern based on electromyographic signal, movement angle and electromyographic signal of its model based on joint are near
Liny sexual intercourse.Control flow is as shown in Figure 10.In figure, formula is followed successively by：
With reference to Figure 10, the N in formula represents the sampling number in a frame, and t is represented in t sampled points, k represent k-th it is flat
Equal frame.Limit of sports record position of the finger-joint on three degree of freedom is represented respectively, and i represents joint type
Not, j represents corresponding joint motions classification, t1It is spaced for window time, t0For zero computing time.
- force control mode：
Power Controlling model is based on muscle-power Hill model, and power algorithm for estimating is as follows：
Wherein：
Ft：The power that tendon is produced；
a(t)：Muscle drive volume；
Fmax：Muscle equal length shrinks maximum, force；
FA(lm)：Active force and muscle relation；
Muscle-length velocity relation；
φ：Tendon and meat fiber angle；
FA：Active force；
lm：Muscle length；
FV：Muscle-speed power；
Movement velocity；
By power and muscle relation；
By power.
Below control method is further described：
User has dressed wearable function strengthens machine hand system, when human body produces motion, produces myoelectricity letter therewith
Number, signal passes to computer by wireless blue tooth, and signal processing is realized through following several ways：
(1) by pattern recognition, human body gesture is obtained, can be used to carry out the operation such as folding；
(2) by continuous locomotion evaluation, human finger articulated position and speed are obtained, builds robot finger and people
The relative space position relation of body finger, by identification of the human eye to object, realizes the task that crawl one hand can not be completed, such as single
Handss grab basketball, football etc..
(3) extracted by the impedance information to electromyographic signal, realize the impedance control of robot finger, so as to coordinate human body
The change of arm direct impedance, coordinates man-computer cooperation.
(4) by the fusion of electromyographic signal and robot finger's positional information and force information, human computer cooperation system is built, is
Robot understands that human body behavior is intended to, and realizes the intellectuality of robot.
The wearable function that the present embodiment is provided strengthens machine hand system, solve in commercial production long-time merely according to
Rely the problem that wrist muscle fatigue is caused in hand, by using passive type boosting mechanism (arm coupling b1, upper arm before self adaptation
Connecting rod b2, forearm link b4), make hand load balancing to human body upper arm, effectively alleviate the operating pressure of hand, due to adopting quilt
Dynamic formula power-assisted, without the need for power supply, thus reduces the weight and volume of robot arm system ontology, makes whole machine hand system light weight
Change.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various modifications or modification within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (10)
1. a kind of assisted finger, it is characterised in that including imitation human finger, finger base, the first motor (a2), the second motor
(a3), the 3rd motor (a4), wherein, the imitation human finger is driven using driving rope, and is had clamping DOF, bent and stretched degree of freedom
With recovery degree of freedom three degree of freedom；3rd motor (a4) directly with imitation human finger drive connection, for realizing apery handss
The recovery degree of freedom of finger；Decelerator is connected with the rotating shaft of the 3rd motor (a4), is connected on the output shaft of the decelerator
There is one for realizing the rotating shaft of imitation human finger clamping DOF, the imitation human finger is sequentially connected rotating shaft and the by driving rope
One motor (a2), the rotating shaft and the first motor (a2) drive connection；The imitation human finger is by driving rope and the second motor
(a3) drive connection, for realizing the bending degree of freedom of imitation human finger；
The imitation human finger is connected in finger base；The finger base is provided with panel mounting surface (c2), wrist adapter
(c3) and modularized joint interface (c1), wherein：
Control panel, the control panel and the first motor (a2), the second motor are installed on the panel mounting surface (c2)
(a3), the 3rd motor (a4) control connection；
The wrist adapter (c3) is provided with user's wrist；
Three Degree Of Freedom modularized joint is installed on the modularized joint interface (c1)；
The modularized joint interface (c1) is provided with joint adpting flange, and the Three Degree Of Freedom modularity passes through joint adpting flange
It is fastenedly connected with finger base；The user's wrist is provided with least one user's wrist geometry adaptable interface；The imitation human finger
It is connected with Three Degree Of Freedom modularized joint by driving rope, pretension part and finger adpting flange.
2. assisted finger according to claim 1, it is characterised in that first motor (a2), the second motor (a3) and
Code-disc is respectively equipped with 3rd motor (a4), for controlling the position of imitation human finger.
3. assisted finger according to claim 1, it is characterised in that is provided between the rotating shaft and the first motor (a2)
One rope driving pulley (p1)；The second rope driving pulley (p2) is provided between the imitation human finger and the second motor (a3)；The drive
Running rope bypasses the first rope driving pulley (p1) and the second rope driving pulley (p2) respectively, and forms closed-loop path respectively；
First rope driving pulley (p1) and the second rope driving pulley (p2) are separately fixed in rotating shaft.
4. assisted finger according to claim 1, it is characterised in that the assisted finger also includes：Position sensor and
Force transducer, wherein：
A position sensor is equipped with each finger-joint of the imitation human finger, for detecting that finger-joint position is believed
Breath, and then obtain the angle of bend of each finger-joint；
The force transducer includes and the spring for driving rope to be connected and the linear electricity for current potential produced by detection spring deformation
Position meter, obtains the deflection of spring by the current potential for detecting, and then obtains the size of each finger-joint power/torque.
5. assisted finger according to any one of claim 1 to 4, it is characterised in that the imitation human finger includes symmetrically
Two bar linkage structures for arranging, wherein, each bar linkage structure includes first connecting rod and second connecting rod, the first connecting rod and
Connected by articulated manner between second connecting rod.
6. a kind of wearable function strengthens machine hand system, it is characterised in that including arm coupling before self adaptation (b1), upper arm
Assisted finger any one of connecting rod (b2), forearm link (b4), annular myoelectricity collection array and claim 1 to 5,
Wherein：
Before the self adaptation, arm coupling (b1) is connected with upper arm link (b2) by ball-joint, and the upper arm link (b2) passes through
Linkwork (b3) is connected with forearm link (b4), and the forearm link (b4) is by ball-joint interface (b5) and assisted finger base
Wrist adapter (c3) connection of seat；
The annular myoelectricity collection array is arranged in forearm link；
The upper arm link (b2) and the adjustable in length of forearm link (b4).
7. wearable function according to claim 6 strengthens machine hand system, it is characterised in that the linkwork
(b3) rotating shaft is provided with code-disc, for recording human body elbow position information.
8. the wearable function described in a kind of claim 6 strengthens the control method of machine hand system, it is characterised in that adopt
Based on the isometric contraction control mode of myoelectricity, in the case of user hand is not moved and still there is muscle contraction, by annular
The electromyographic signal that myoelectricity collection array acquisition is arrived, through pattern recognition, judges user motion intention, realizes preliminary gesture control
System.
9. wearable function according to claim 8 strengthens the control method of machine hand system, it is characterised in that also wrap
Include following steps：By the rigidity assessment to imitation human finger and continuous estimation, impedance control and the company of imitation human finger are realized
Continuous position control, and each the finger-joint power/torque and the first motor (a2), the second motor (a3) with force transducer acquisition
The angle of bend of each finger-joint controlled with the code-disc of the 3rd motor (a4), builds specific man-machine coordination control strategy.
10. wearable function according to claim 9 strengthens the control method of machine hand system, it is characterised in that institute
State impedance control to be specially：The force information and annular myoelectricity obtained by force transducer is gathered the electromyographic signal of array acquisition and is carried out
Information fusion, to obtain corresponding rigidity sequence, and for controlling finger rigidity, realizes man-machine coordination control；
The continuous position control is specially：Based on the continuous estimation of electromyographic signal, build based on finger-joint angle of bend
Linear relationship between degree and electromyographic signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510062001.3A CN104665962B (en) | 2015-02-05 | 2015-02-05 | Wearable function strengthens machine hand system and its assisted finger and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510062001.3A CN104665962B (en) | 2015-02-05 | 2015-02-05 | Wearable function strengthens machine hand system and its assisted finger and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104665962A CN104665962A (en) | 2015-06-03 |
| CN104665962B true CN104665962B (en) | 2017-04-05 |
Family
ID=53301921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510062001.3A Expired - Fee Related CN104665962B (en) | 2015-02-05 | 2015-02-05 | Wearable function strengthens machine hand system and its assisted finger and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104665962B (en) |
Families Citing this family (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411817B (en) * | 2015-12-23 | 2017-09-15 | 微迈森惯性技术开发（北京）有限公司 | The power-driven method and system of a kind of outer dynamic power machine |
| CN106038168B (en) * | 2016-05-13 | 2018-07-03 | 燕山大学 | finger rehabilitation training device |
| EP3263087B1 (en) * | 2016-06-29 | 2021-03-10 | Fundación Tecnalia Research & Innovation | Portable device for upper limb rehabilitation |
| CN106263161B (en) * | 2016-09-13 | 2017-12-29 | 金华市秸和环保技术咨询有限公司 | High-durability machinery gloves |
| CN106389068A (en) * | 2016-10-26 | 2017-02-15 | 华南理工大学 | Device for autonomous rehabilitation training of upper limb unilateral hemiplegia patient and control method |
| US11246786B2 (en) | 2016-12-22 | 2022-02-15 | Rehab-Robotcs Company Ltd. | Power assistive device for hand rehabilitation and a method of using the same |
| CN106983588B (en) * | 2017-05-11 | 2023-10-27 | 武汉云云天下信息科技有限公司 | Exoskeleton robot capable of adapting to human body structure |
| CN108942879B (en) * | 2017-05-19 | 2021-03-12 | 中国航天时代电子公司 | Wearable full-joint bidirectional force feedback integrated closed-loop control device and method |
| CN107378944B (en) | 2017-06-20 | 2020-12-25 | 东南大学 | Multidimensional surface electromyographic signal artificial hand control method based on principal component analysis method |
| CN107260487B (en) * | 2017-07-03 | 2020-12-22 | 天津理工大学 | Portable upper limb rehabilitation robot and LabVIEW-based digital simulation implementation method thereof |
| CN107320285A (en) * | 2017-07-28 | 2017-11-07 | 上海逸动医学科技有限公司 | A kind of multifunctional intellectual rehabilitation training and assessment system |
| CN107569363B (en) * | 2017-09-05 | 2019-10-22 | 哈尔滨工业大学 | A kind of wearable wrist recovery training Flexible Transmission ectoskeleton |
| CN107961459B (en) * | 2017-11-21 | 2020-02-18 | 国网陕西省电力公司安康供电公司 | Climbing protection device for power transmission tower and application method thereof |
| EP3743901A4 (en) | 2018-01-25 | 2021-03-31 | Facebook Technologies, Inc. | Real-time processing of handstate representation model estimates |
| CN108312128A (en) * | 2018-03-20 | 2018-07-24 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
| CN108836754B (en) * | 2018-07-26 | 2020-06-02 | 陕西理工大学 | Device for automatically moving fingers |
| CN110039507A (en) * | 2019-04-09 | 2019-07-23 | 华南理工大学 | A kind of remote control system and method based on ectoskeleton data glove and myoelectricity bracelet |
| CN110750867B (en) * | 2019-09-19 | 2021-02-26 | 上海大学 | Overall rigidity and contact force calculation method for soft fingertip structure of hemispherical robot |
| CN111631846A (en) * | 2020-06-10 | 2020-09-08 | 苏州通和景润康复科技有限公司 | Two-degree-of-freedom artificial limb wrist |
| CN112515915B (en) * | 2020-11-30 | 2023-01-17 | 重庆电子工程职业学院 | Wearable finger rehabilitation robot |
| CN112828882B (en) * | 2020-12-11 | 2023-03-31 | 天津大学 | Distributed outer limb finger robot control system |
| CN114129391B (en) * | 2021-12-07 | 2022-12-30 | 山东大学 | Cantilever type redundant driving hand function robot for finger force training |
| CN114248283B (en) * | 2021-12-30 | 2024-05-24 | 湖南农业大学 | Exoskeleton maintenance robot with Bluetooth perception function |
| CN114625246A (en) * | 2022-02-14 | 2022-06-14 | 深圳市心流科技有限公司 | Gesture combination triggering method and device, intelligent bionic hand and storage medium |
| CN114748224A (en) * | 2022-04-24 | 2022-07-15 | 中国科学院沈阳自动化研究所 | Wearable forearm intelligent artificial limb containing elbow joint |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5413611A (en) * | 1992-07-21 | 1995-05-09 | Mcp Services, Inc. | Computerized electronic prosthesis apparatus and method |
| JP3086452B1 (en) * | 1999-05-19 | 2000-09-11 | 原田電子工業株式会社 | Movable finger for artificial limb, artificial hand using the movable finger, and control device for the movable finger |
| CN1582866A (en) * | 2004-06-02 | 2005-02-23 | 杭州电子科技大学 | Myoelectric bionic artificial hand with thigmesthesia and its control |
| US8052185B2 (en) * | 2009-04-09 | 2011-11-08 | Disney Enterprises, Inc. | Robot hand with humanoid fingers |
| PL2709522T3 (en) * | 2011-05-20 | 2017-03-31 | Nanyang Technological University | System for synergistic neuro-physiological rehabilitation and/or functional development |
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN103284821B (en) * | 2013-05-27 | 2014-06-04 | 华中科技大学 | Thumb structure of prosthetic hand |
| CN103565562B (en) * | 2013-08-02 | 2014-06-04 | 华中科技大学 | Under-actuated artificial limb hand |
-
2015
- 2015-02-05 CN CN201510062001.3A patent/CN104665962B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104665962A (en) | 2015-06-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104665962B (en) | Wearable function strengthens machine hand system and its assisted finger and control method | |
| CN104586608B (en) | The wearable power-assisted finger controlled based on myoelectricity and its control method | |
| CN108187310B (en) | Feel that the limb motion of information and posture information is intended to understand and upper-limbs rehabilitation training robot and its control method based on power | |
| Weiner et al. | The kit prosthetic hand: design and control | |
| CN104825257B (en) | The wearable function auxiliary mechanical arm of waist | |
| CN104881118B (en) | A kind of donning system for being used to capture human upper limb locomotion information | |
| CN110251898B (en) | Closed-loop control system of wrist rehabilitation exoskeleton based on force feedback | |
| CN101897643A (en) | Wearable power assistive device for helping a user to move their hand | |
| CN110664588B (en) | Cerebral apoplexy patient hand function rehabilitation robot of hard and soft coupled structure | |
| EP1631421A2 (en) | Method and system for motion improvement | |
| CN108939396A (en) | A kind of rope driving wearing type upper limb recovery training robot and its application method | |
| CN109529274B (en) | Upper limb joint active rehabilitation system based on redundant mechanical arm and training method thereof | |
| CN200984250Y (en) | Flexible ectoskeleton elbow joint based on pneumatic power | |
| CN104856707B (en) | Pressure sensing data glove based on machine vision and its grasping process judgment method | |
| CN113910279B (en) | Perception-driving integrated rigid-flexible coupling finger and flexible robot dexterous hand | |
| Li et al. | Preliminary study on the design and control of a pneumatically-actuated hand rehabilitation device | |
| Beigzadeh et al. | Design and development of one degree of freedom upper limb exoskeleton | |
| CN114129392B (en) | Self-adaptive redundant driving exoskeleton rehabilitation robot capable of regulating and controlling fingertip force at tail end | |
| CN111070232B (en) | Pneumatic driven two-finger manipulator | |
| CN113144535A (en) | But hand rehabilitation training system of remote monitoring | |
| CN114602138B (en) | Upper limb personalized rehabilitation training method and system based on human body movement model | |
| CN111228084B (en) | Upper limb rehabilitation training device | |
| CN115416003A (en) | On-demand auxiliary control method for lower limb exoskeleton of old people | |
| CN114029990B (en) | Structure and control method of intelligent power arm of bionic robot with multiple sensors | |
| CN114669025A (en) | Coronary heart disease PCI postoperative finger trainer and use method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20220205 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |