摘要
提出了一种带触觉反馈的肌电假手模糊控制方法.该方法在有效识别肌电信号(MES)的基础上,实现了基于触觉与肌电信号的假手仿生控制.为了消除肌电信号的个体差异,使其能可靠应用于非特定人场合,应用互功率谱比值法对肌电信号进行处理,并分析互功率谱的各项参数和对应肢体动作变化之间的关系,消除了肌电信号实际测量中不可测噪声的干扰.采用特别设计的模糊控制器控制假手动作的步进量,实现了肌电假手对多种不同物体的稳定抓取.实验表明这种组合方法不仅可以获得较高的动作模式识别率,而且能有效地降低被抓取物体的损坏.
This paper introduces a fuzzy control method for myoelectric prosthesis with tactile sense. By recognizing myoelectric signals （MESs） effectively, a bionic control of the prosthetic hand is implemented based on touch and IDES. In order to reduce the individual difference of MES, and make it be used reliably by various amputees, a cross-power spectrum coefficient （CSC） method is adopted to deal with IDES. The relafionship between the cross-power spectrum parameters and the hand movement patterns is analyzed, and the disturbance caused by immeasurable noises in the actual system is climinated. A fuzzy controller is designed specially to control movement steps of the myoelectric prosthetic hand and make the myoelectric prosthetic hand grasp object stably. Experimental results indicate that this method can not oaly increase the recognition ratio of movement patterns, but also decrease possible damage to the grasped obieets.
出处
《机器人》
EI
CSCD
北大核心
2006年第2期224-228,共5页
Robot
基金
国家自然科学基金资助项目(60474054)
教育部新世纪优秀人才计划资助项目(NCET-04-0558)
关键词
互功率谱比值法
肌电信号
噪声
模糊控制器
cross-power spectrum coefficient （CSC）
myoelectfic signal （MES）
noise
fuzzy controller
