具有触滑觉功能的肌电假手

Myoelectric prosthetic hand with tactile and slip feedback functions

研制了一种可以感知触滑觉的智能假手。传感器采用有机压电(PVDF)材料为敏感元件,在传感器外表面贴有点阵状结构的橡胶表皮。当假手接触到物体时,传感器产生一个阶跃响应;当物体滑动时,导致点阵状结构表皮振动,产生交变的滑动响应信号。这样传感器可以检测并判断出触觉和滑觉信号。这种利用交变压电信号来判断滑动的方法,简单易行,反馈实时性高。实验表明,安装有这种传感器的假手可以安全地握取易碎或者比较柔软的物体,克服了传统假手的弊端,提高了仿生性能。

An intelligent prosthetic hand was developed with tactile and slip sensations. The sensor is made of polyvinylidene fluoride (PVDF) and covered by a rubber membrane over the array structure. A step response is generated when the prosthetic hand touches an object. In case slip between the object and the hand, the sensor array vibrates, which induces an alternating signal. Thus, the tactile and slip sensations can be identified by their different responses. The slip detection using the alternating piezoelectric signal is very effective and easy to realize for real-time feedback. Test results show that the intelligent prosthetic hand is more functional than traditional prosthetic hands, especially when grasping fragile or soft objects.