CN102764166A - Upper prosthetic hand pose self-balancing control system and working method thereof - Google Patents

Upper prosthetic hand pose self-balancing control system and working method thereof Download PDF

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Publication number
CN102764166A
CN102764166A CN2012102672451A CN201210267245A CN102764166A CN 102764166 A CN102764166 A CN 102764166A CN 2012102672451 A CN2012102672451 A CN 2012102672451A CN 201210267245 A CN201210267245 A CN 201210267245A CN 102764166 A CN102764166 A CN 102764166A
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hand
obliquity sensor
forearm
balance controller
artificial limb
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CN102764166B (en
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樊炳辉
纪鹏
赵振爱
李建功
周凯
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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Abstract

The invention discloses an upper prosthetic hand pose self-balancing control system and a working method thereof; the system comprises a hand balancing controller and a voltage-type dual-axis inclinometer fixed on the forearm of an upper prosthetic hand, wherein the hand balancing controller is connected with a forearm rotating steering engine and a wrist pitching steering engine of the upper prosthetic hand by a serial port; and the hand balancing controller is formed by connecting an MCU (micro-programmed control unit), an analogue-digital converting circuit, a power management module and the serial port. When an arm moves, the inclinometer is used for transmitting the forearm pose variation data which are detected in real time to the controller by the analogue-digital converting circuit in the controller, the controller is used for automatically adjusting the rotation direction and the pitching angle of the forearm rotating steering engine and the wrist pitching steering engine according to an inclination angle detected by the inclinometer so that the part (between the thumb and the index finger) of the upper prosthetic hand is kept vertically upward, and the balanced and stable hand pose of the upper prosthetic hand is kept automatically even if the arm optionally moves up and down, left and right and back to forth.

Description

A kind of artificial limb hand attitude self-balancing control system and method for work thereof of going up
Technical field
The present invention relates to last artificial limb or robot mechanical arm for disabled persons, relate in particular to the artificial limb hand is kept posture balancing automatically in moving control technology.
Background technology
Usually, one glass of water is put into the mouth and drinks people from desk upper end, in moving process, must keep the attitude of water tumbler to remain unchanged, otherwise water will spill.This is a very simple usual action for the people, and can for robot or last artificial limb, implement just has very big difficulty.
Robot or last artificial limb will be accomplished some pick-and-place operations; Must describe out the initial state (annotate: so-called " state " comprise position and two kinds of information of attitude) and the dbjective state of hand in advance, so that make its hand can accurately grab object and it is put into the place of needs with the attitude that requires.And for some such special pick-and-place operations of end water tumbler; The initial state and the dbjective state of hand not only will be described; Also need indicate the state at the some approach points place between initial state and dbjective state in the hand moving process; To guarantee water tumbler attitude stabilization in moving process, be unlikely to run-off the straight and unrestrained water in the cup, this will carry out continuous path planning to the motion of mechanical hand.
Trajectory planning generally has dual mode, and a kind of is to carry out trajectory planning at joint space, and a kind of is to carry out trajectory planning at cartesian space.
Trajectory planning in joint space though computational speed is fast, is easy to carry out in real time, but often can't guarantee keeping of hand attitude in the moving process, and significant discomfort is used in the such work of end water tumbler.
Realize that the water in the cup is not unrestrained in the hand moving process, must in cartesian space, carry out trajectory planning.And at the trajectory planning of cartesian space, need between cartesian space and joint space, shine upon in real time, this is a task that amount of calculation is very big, usually causes the long control interval; Moreover, be ill by cartesian space to the conversion of joint space, it is not man-to-man mapping; In addition, because the initial state and the dbjective state of the target of doing evil through another person all are at random, even be difficult to realize for the description of initial state and dbjective state, and difficult especially to the description of its approach state point.So keep holding remaining unchanged of water tumbler moving process hand attitude very difficult.
Summary of the invention
The objective of the invention is to disclose a kind of hand attitude of artificial limb or mechanical hand that guarantees and in motor process, keep equilibrated control system automatically.Through this system, can, arm can both keep the hand posture balancing of artificial limb or mechanical hand stable automatically when doing top to bottom, left and right, front and rear motion arbitrarily.
Technical scheme of the present invention is: a kind of artificial limb hand attitude self-balancing control system that goes up; It comprises the hand balance controller and is fixed on the obliquity sensor on the artificial limb forearm that the hand balance controller is connected with the wrist pitch-control motor with the preceding brachiostrophosis steering wheel of last artificial limb through serial ports;
Described hand balance controller is connected to form by MCU, analog to digital conversion circuit, power management module and serial ports.
Above-mentioned obliquity sensor is a kind of voltage-type double-shaft tilt angle sensor, is existing structure.
Method of work of the present invention is following:
The first step: the installation of obliquity sensor
Obliquity sensor is installed on some positions of the forearm that receives preceding brachiostrophosis steering wheel driving; The obliquity sensor installation requirement is following: obliquity sensor allows to change at the upper-lower position of forearm; But must guarantee the X axle of obliquity sensor and plane and the residing plane parallel of hand tiger this moment that the Y axle is constituted; And the direction of X axle that must guarantee obliquity sensor is parallel with the axis of forearm, and the direction of Y axle is vertical with the axis of forearm;
Second step: artificial limb hand attitude keeps balance in the control, specifically is divided into following two aspects:
One: control wrist pitch-control motor keeps balance
Under the hand balance controller receives the X axis of the obliquity sensor that obliquity sensor records in real time, depart from horizontal plane and and horizontal plane shape in an angle the time, then the hand balance controller will be controlled and lift corresponding angle on the wrist pitch-control motor; In like manner, the hand balance controller receive depart from the X axis of the obliquity sensor that obliquity sensor records in real time horizontal plane and and horizontal plane shape in an angle the time, then the hand balance controller will be controlled the wrist pitch-control motor corresponding angle that falls; When the hand balance controller receives the X axle of the obliquity sensor that obliquity sensor records in real time when parallel with horizontal plane, then the hand balance controller just need not be controlled the wrist pitch-control motor and rotates.
Two: the brachiostrophosis steering wheel keeps balance before the control
The Y that receives the obliquity sensor that obliquity sensor records in real time when the hand balance controller axially departs from horizontal plane down also and horizontal plane shape in an angle the time; Artificial limb hand tiger tilt in health is described; The brachiostrophosis steering wheel rotated to the health outside before the hand balance controller will be controlled; The obliquity sensor that drives forearm and mounted thereto rotates to the health outside, the Y direction that makes obliquity sensor by the dried up plane of downward bias gradually to parallel variation with horizontal plane; When Y that the hand balance controller receives the obliquity sensor that obliquity sensor records in real time depart from axially horizontal plane and and horizontal plane shape in an angle the time; Artificial limb hand tiger tilt outside health is described; The brachiostrophosis steering wheel was to the inboard rotation of health before the hand balance controller will be controlled; The obliquity sensor that drives forearm and mounted thereto rotates to health is inboard, the Y direction that makes obliquity sensor by upwards depart from horizontal plane gradually to be that plane parallel changes; When the hand balance controller receives the Y axle of obliquity sensor when parallel with horizontal plane, the tiger direction that artificial limb hand this moment is described vertically upward, brachiostrophosis steering wheel rotation before the hand balance controller just need not be controlled like this.
According to operation principle good effect of the present invention is described below.
The object of the invention mainly is that artificial limb is gone up in control or mechanical hand hand tiger direction in some special operational processes remains vertically upward; Based on this mechanism; Operation principle of the present invention is; When arm is done motion such as top to bottom, left and right, front and rear; Obliquity sensor sends to real-time detected forearm attitude delta data information in the hand balance controller through the inner analog to digital conversion circuit of hand balance controller, and the hand balance controller can be according to the X axle and the Y axle difference angle of inclination with respect to the horizontal plane of obliquity sensor, and the direction of rotation and the corner of brachiostrophosis steering wheel and wrist pitch-control motor are big or small before coming to regulate automatically; Keep vertically upward so that go up the tiger direction of artificial limb hand, keep the balance of hand attitude; Above-mentioned forearm attitude delta data information comprises two angles of inclination; The one, the X axle angle of inclination with respect to the horizontal plane of obliquity sensor; Be the fore-and-aft direction of human body, the 2nd, the Y axle angle of inclination with respect to the horizontal plane of obliquity sensor, the i.e. left and right directions of human body.Therefore through this system, when having realized that arm is done top to bottom, left and right, front and rear motion arbitrarily, can both keep the hand posture balancing of artificial limb or mechanical hand stable automatically, solve the insurmountable for a long time difficult problem of people.
Description of drawings
Be example explanation embodiments of the invention with artificial limb on the right side below.
Fig. 1 goes up artificial limb hand attitude self-balancing control principle block diagram;
Fig. 2 is an installation site graph of a relation of going up artificial limb obliquity sensor and last artificial limb when sagging naturally;
Fig. 3 is a forearm when upwards being raised to horizontal level, and the hand tiger is sketch map up;
Fig. 4 is a forearm when upwards being raised to horizontal level, and the hand tiger is sketch map inwardly;
Fig. 5 is a forearm when upwards being raised to horizontal level, and the hand tiger is sketch map outwardly;
Fig. 6 lifts an angle but also during the no show horizontal level, the wrist pitch-control motor is not made hand attitude sketch map before the balance adjustment on the forearm;
Fig. 7 lifts an angle but also during the no show horizontal level, the wrist pitch-control motor is made balance adjustment back hand attitude sketch map on the forearm;
Fig. 8 is when lifting an angle on the forearm and surpassing horizontal level, and the wrist pitch-control motor is not made hand attitude sketch map before the balance adjustment;
Fig. 9 is when lifting an angle on the forearm and surpassing horizontal level, and the wrist pitch-control motor is made balance adjustment back hand attitude sketch map;
Figure 10 is X axle and the Y direction sketch map on the obliquity sensor;
Figure 11 is the circuit block diagram of hand balance controller.
Among the figure: 1-hand balance controller, brachiostrophosis steering wheel before the 2-obliquity sensor, 3-, 4-wrist pitch-control motor, the X axle of 5-obliquity sensor, the Y axle of 6-obliquity sensor, 7-MCU, 8-power management module, 9-serial ports, 10-analog to digital conversion circuit.
The specific embodiment
According to accompanying drawing embodiments of the invention are further specified below.
Like Fig. 1, shown in Figure 2; The last artificial limb hand of the present invention attitude self-balancing control system; Be on the forearm of last artificial limb, to be fixed with obliquity sensor 2; It also includes hand balance controller 1, and hand balance controller 1 is connected with wrist pitch-control motor 4 with the preceding brachiostrophosis steering wheel 3 of last artificial limb through serial ports 9; Obliquity sensor 2 sends to real-time detected forearm attitude delta data information in the hand balance controller 1 through hand balance controller 1 inner analog to digital conversion circuit 10; The direction of motion and the angle of brachiostrophosis steering wheel 3 and wrist pitch-control motor 4 before the hand balance controller 1 control adjustment in real time, thus hand tiger direction is kept vertically upward; Above-mentioned forearm attitude delta data information comprises two angles of inclination; Shown in figure 10, the one, X axle 5 angle of inclination with respect to the horizontal plane of obliquity sensor 2, the i.e. fore-and-aft direction of human body; The 2nd, Y axle 6 angle of inclination with respect to the horizontal plane of obliquity sensor 2, the i.e. left and right directions of human body; Wherein:
Shown in figure 11, described hand balance controller 1 is connected to form by MCU 7, power management module 8, serial ports 9 and analog to digital conversion circuit 10.
For the ease of implementing, the operation principle of embodiment is described according to Fig. 2-10 again.
One, the installation requirement of obliquity sensor 2
When the ancon joint is under the nature hang situation, brachiostrophosis steering wheel 3 and wrist pitch-control motor 4 before the adjustment make artificial limb hand and forearm be in the straight state of nature and tiger direction level the place ahead towards human body.Obliquity sensor 2 is installed on some positions of the forearm that receives preceding brachiostrophosis steering wheel 3 drivings; Its upper-lower position at forearm can change; But must guarantee the X axle 5 of obliquity sensor 2 and plane and the residing plane parallel of hand tiger this moment that Y axle 6 is constituted; And the direction of X axle 5 that must guarantee obliquity sensor 2 is parallel with the axis of forearm, and the direction of Y axle 6 is vertical with the axis of forearm, and is as shown in Figure 2.
With obliquity sensor 2 can sensing itself the angle of inclination (its expression be the spatial attitude of forearm) of X axle 5 and Y axle 6 and horizontal plane, be made as α and β here, measuring range is 0 °-180 °.When forearm is sagging naturally, as shown in Figure 2, α=0 ° (this moment, X axle 5 directions of obliquity sensor 2 were in the vertical state); When lifting on the forearm to horizontal attitude, as shown in Figure 3, α=90 ° (this moment, X axle 5 directions of obliquity sensor 2 were in level); When current arm held upward is extremely vertical, α=180 ° (this moment, X axle 5 directions of obliquity sensor 2 were in state vertically upward); When forearm is held level with both hands and artificial limb hand and forearm are in the straight state of nature, the tiger that brachiostrophosis steering wheel 3 makes the artificial limb hand before rotating is vertically upward the time, and is as shown in Figure 3, β=90 ° (this moment, Y axle 6 directions of obliquity sensor 2 were in level); When forearm is held level with both hands and artificial limb hand and forearm are in the straight state of nature; When brachiostrophosis steering wheel 3 makes the tiger direction level of artificial limb hand point to the health inboard before rotating; As shown in Figure 4, β=0 ° (this moment, Y axle 6 directions of obliquity sensor 2 were in the downward vertical state of arrow); When forearm is held level with both hands and artificial limb hand and forearm are in the straight state of nature; When brachiostrophosis steering wheel 3 makes the tiger direction level of artificial limb hand point to the health outside before rotating; As shown in Figure 5, β=180 ° (this moment, Y axle 6 directions of obliquity sensor 2 were in arrow state vertically upward).
Two, wrist pitch-control motor 4 keeps equilibrium principle
When hand balance controller 1 receives α<90 ° (as shown in Figure 6) that obliquity sensor 2 records in real time; Then hand balance controller 1 will be controlled the angle value of lifting on the wrist pitch-control motor 4 and does | and α-90 ° |; After 4 motions of wrist pitch-control motor put in place, the attitude of artificial limb hand was with as shown in Figure 7;
When hand balance controller 1 receives α>90 ° (as shown in Figure 8) that obliquity sensor 2 records in real time; Then hand balance controller 1 will be controlled the angle value that wrist pitch-control motor 4 falls and does | and α-90 ° |; After 4 motions of wrist pitch-control motor put in place, the attitude of artificial limb hand was with as shown in Figure 9;
When hand balance controller 1 receives α=90 ° (as shown in Figure 3) that obliquity sensor 2 records in real time; Then hand balance controller 1 will be controlled the angle value that wrist pitch-control motor 4 rotates and does | and α-90 ° |=0 °; Promptly this moment, wrist pitch-control motor 4 need not rotate just can guarantee the artificial limb hand the tiger direction vertically upward.
One, preceding brachiostrophosis steering wheel 3 keeps equilibrium principle
When hand balance controller 1 receives β<90 that obliquity sensor 2 records in real time ° (as shown in Figure 4); Artificial limb hand tiger tilt in health is described; Brachiostrophosis steering wheel 3 rotated to the health outside before hand balance controller 1 will be controlled; The obliquity sensor 2 that drives forearm and mounted thereto rotates to the health outside, the value that makes the β that obliquity sensor 2 records in real time by β<90 ° to β=90 ° variation;
During current brachiostrophosis steering wheel 2 arrival equilbrium positions (β=90 °), artificial limb hand attitude is with as shown in Figure 3; When hand balance controller 1 receives β>90 that obliquity sensor 2 records in real time ° (as shown in Figure 5); Artificial limb hand tiger tilt outside health is described; Brachiostrophosis steering wheel 3 was to the inboard rotation of health before hand balance controller 1 will be controlled; The obliquity sensor 2 that drives forearm and mounted thereto rotates to health is inboard, the value that makes the β that obliquity sensor 2 records in real time by β>90 ° to β=90 ° variation;
During current brachiostrophosis steering wheel 3 arrival equilbrium positions (β=90 °), artificial limb hand attitude is with as shown in Figure 3; When hand balance controller 1 receives β=90 that obliquity sensor 2 records in real time °, as shown in Figure 3, the tiger direction that artificial limb hand this moment is described vertically upward, brachiostrophosis steering wheel 3 rotations before hand balance controller 1 just can not be controlled like this.

Claims (3)

1. go up artificial limb hand attitude self-balancing control system for one kind, it comprises the hand balance controller and is fixed on the obliquity sensor on the artificial limb forearm that the hand balance controller is connected with the wrist pitch-control motor with the preceding brachiostrophosis steering wheel of last artificial limb through serial ports;
Described hand balance controller is connected to form by MCU, analog to digital conversion circuit, power management module and serial ports;
Above-mentioned obliquity sensor is a kind of voltage-type double-shaft tilt angle sensor.
2. method of work that goes up artificial limb hand attitude self-balancing control system as claimed in claim 1 is characterized in that:
The first step: the installation of obliquity sensor
Obliquity sensor is installed on some positions of the forearm that receives preceding brachiostrophosis steering wheel driving; The obliquity sensor installation requirement is following: obliquity sensor allows to change at the upper-lower position of forearm; But must guarantee the X axle of obliquity sensor and plane and the residing plane parallel of hand tiger this moment that the Y axle is constituted; And the direction of X axle that must guarantee obliquity sensor is parallel with the axis of forearm, and the direction of Y axle is vertical with the axis of forearm;
Second step: artificial limb hand attitude keeps balance in the control, specifically is divided into following two aspects:
The one, control wrist pitch-control motor keeps balance
Under the hand balance controller receives the X axis of the obliquity sensor that obliquity sensor records in real time, depart from horizontal plane and and horizontal plane shape in an angle the time, then the hand balance controller will be controlled and lift corresponding angle on the wrist pitch-control motor;
On the hand balance controller receives the X axis of the obliquity sensor that obliquity sensor records in real time, depart from horizontal plane and and horizontal plane shape in an angle the time, then the hand balance controller will be controlled the wrist pitch-control motor corresponding angle that falls;
When the hand balance controller receives the X axle of the obliquity sensor that obliquity sensor records in real time when parallel with horizontal plane, then the hand balance controller just need not be controlled the wrist pitch-control motor and rotates;
The 2nd, the brachiostrophosis steering wheel keeps balance before the control
The Y that receives the obliquity sensor that obliquity sensor records in real time when the hand balance controller axially departs from horizontal plane down also and horizontal plane shape in an angle the time; Artificial limb hand tiger tilt in health is described; The brachiostrophosis steering wheel rotated to the health outside before the hand balance controller will be controlled; The obliquity sensor that drives forearm and mounted thereto rotates to the health outside, the Y direction that makes obliquity sensor by the dried up plane of downward bias gradually to parallel variation with horizontal plane;
When Y that the hand balance controller receives the obliquity sensor that obliquity sensor records in real time depart from axially horizontal plane and and horizontal plane shape in an angle the time; Artificial limb hand tiger tilt outside health is described; The brachiostrophosis steering wheel was to the inboard rotation of health before the hand balance controller will be controlled; The obliquity sensor that drives forearm and mounted thereto rotates to health is inboard, the Y direction that makes obliquity sensor by upwards depart from horizontal plane gradually to be that plane parallel changes;
When the hand balance controller receives the Y axle of obliquity sensor when parallel with horizontal plane, the tiger direction that artificial limb hand this moment is described vertically upward, brachiostrophosis steering wheel rotation before the hand balance controller just need not be controlled like this.
3. method of work as claimed in claim 2 is characterized in that:
The first step: the installation requirement of obliquity sensor (2)
When the ancon joint is under the nature hang situation, brachiostrophosis steering wheel (3) and wrist pitch-control motor (4) before the adjustment make artificial limb hand and forearm be in the straight state of nature and tiger direction level the place ahead towards human body; Obliquity sensor (2) is installed on some positions of the forearm that receives preceding brachiostrophosis steering wheel (3) driving; Its upper-lower position at forearm allows to change; But must guarantee the X axle (5) of obliquity sensor (2) and plane and the residing plane parallel of hand tiger this moment that Y axle (6) is constituted; And the direction of X axle (5) that must guarantee obliquity sensor (2) is parallel with the axis of forearm, and the direction of Y axle (6) is vertical with the axis of forearm;
With itself the angle of inclination of X axle (5) and Y axle (6) and horizontal plane of obliquity sensor (2) sensing, be made as α and β here, measuring range is 0 °-180 °;
When forearm is sagging naturally, α=0 °, X axle 5 directions of obliquity sensor this moment (2) are in the vertical state;
When lifting on the forearm to horizontal attitude, α=90 °, X axle (5) direction of obliquity sensor this moment (2) is in level;
Current arm held upward when vertical, α=180 °, X axle (5) direction of obliquity sensor this moment (2) is in state vertically upward;
When forearm is held level with both hands and artificial limb hand and forearm are in the straight state of nature, the tiger that brachiostrophosis steering wheel (3) makes the artificial limb hand before rotating is vertically upward the time, β=90 °, and Y axle (6) direction of obliquity sensor this moment (2) is in level;
When forearm is held level with both hands and artificial limb hand and forearm are in the straight state of nature, brachiostrophosis steering wheel (3) makes the tiger direction level of artificial limb hand point to health β=0 ° when inboard before rotating, and Y axle (6) direction of obliquity sensor this moment (2) is in the downward vertical state of arrow;
When forearm is held level with both hands and artificial limb hand and forearm are in the straight state of nature; When brachiostrophosis steering wheel (3) makes the tiger direction level of artificial limb hand point to the health outside before rotating; β=180 °, Y axle (6) direction of obliquity sensor this moment (2) is in arrow state vertically upward;
Second step: artificial limb hand attitude keeps balance in the control, specifically is divided into following two aspects:
The one, control wrist pitch-control motor keeps balance
When hand balance controller (1) receives α<90 that obliquity sensor (2) records in real time °; Then hand balance controller (1) will be controlled the angle value of lifting on the wrist pitch-control motor (4) and does | and α-90 ° |; Wrist pitch-control motor (4) motion puts in place, and the artificial limb hand reaches statokinetic;
When hand balance controller (1) receives α>90 that obliquity sensor (2) records in real time °; Then hand balance controller (1) will be controlled the angle value that wrist pitch-control motor (4) falls and does | and α-90 ° |; Wrist pitch-control motor (4) motion puts in place, and the artificial limb hand reaches statokinetic;
When hand balance controller (1) receives α=90 that obliquity sensor (2) records in real time °; Then hand balance controller (1) will be controlled the angle value that wrist pitch-control motor (4) rotates and does | and α-90 ° |=0 °; Promptly this moment, wrist pitch-control motor (4) need not rotate just can guarantee the artificial limb hand the tiger direction vertically upward;
The 2nd, the brachiostrophosis steering wheel keeps balance before the control
When hand balance controller (1) receives β<90 that obliquity sensor (2) records in real time °; Artificial limb hand tiger tilt in health is described; Brachiostrophosis steering wheel (3) rotated to the health outside before hand balance controller (1) will be controlled; The obliquity sensor (2) that drives forearm and mounted thereto rotates to the health outside, and ° to β=90 ° variation, brachiostrophosis steering wheel (3) arrives the equilbrium position of β=90 ° to the value that makes the β that obliquity sensor (2) records in real time before making by β<90;
When hand balance controller (1) receives β>90 that obliquity sensor (2) records in real time °; Artificial limb hand tiger tilt outside health is described; Brachiostrophosis steering wheel (3) was to the inboard rotation of health before hand balance controller (1) will be controlled; The obliquity sensor (2) that drives forearm and mounted thereto rotates to health is inboard, and ° to β=90 ° variation, brachiostrophosis steering wheel (3) arrives the equilbrium position of β=90 ° to the value that makes the β that obliquity sensor (2) records in real time before making by β>90;
When hand balance controller (1) receives β=90 that obliquity sensor (2) records in real time °, the tiger direction that artificial limb hand this moment is described vertically upward, brachiostrophosis steering wheel (3) rotation before hand balance controller (1) just can not be controlled like this.
CN201210267245.1A 2012-07-20 2012-07-20 Upper prosthetic hand pose self-balancing control system and working method thereof Expired - Fee Related CN102764166B (en)

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CN106377344A (en) * 2016-09-23 2017-02-08 哈尔滨理工大学 Three-freedom-degree prosthetic arm wrist joint controlled by electromyographic signal
CN106476015A (en) * 2015-08-31 2017-03-08 精工爱普生株式会社 robot, control device and robot system
CN106737747A (en) * 2017-01-10 2017-05-31 广东工业大学 A kind of Robot Dual-Arm self-balance method and robot
CN108671562A (en) * 2018-07-25 2018-10-19 江南大学 A kind of educational toy
CN109676638A (en) * 2017-10-18 2019-04-26 佳能株式会社 Tool storage, tool, robot system and control method, storage medium
CN110253603A (en) * 2019-07-23 2019-09-20 东北大学 A kind of bionic mechanical arm
TWI689392B (en) * 2018-11-28 2020-04-01 英華達股份有限公司 Robot arm control method and robot arm

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