多自由度仿人型假手设计

Development of a multi-DOF anthropomorphic prosthetic hand

为了突破目前假手功能的局限,提高使用者的认可程度,设计了集成化的多自由度假手.它的手指设计采用了两种四连杆机构,基关节和中关节之间采用欠驱动连杆传动,能进行自适应抓取;中关节和远关节之间采用耦合连杆传动.手里有三个驱动电机,食指、拇指分别由一个电机驱动,其他三个手指由一个电机驱动.手指上安装了位置和力矩传感器.控制系统由两个DSP控制板组成,不仅实现了基于两路肌电信号的假手动作识别,并且可以进行手指的位置和力矩控制.抓取实验显示这个假手具有很高的抓取能力和灵巧性.

In order to overcome present prosthesis limitations and augment the level of acceptability of the artificial limb, an integrated multi-DOF（Degree of Freedom）prosthetic hand is presented. The design of the finger is based on two types of four-bar linkage mechanisms. The underactuated linkage mechanism adopted between the base joint and the middle joint can realize the self-adaptive grasp, and the coupling linkage is employed between middle and distal joints. The hand is driven by three motors. The torque and position sensors are integrated into the fingers. All actuators and electronic boards are embedded into the hand. The control system consis of two processors. Thus the motion pattern identification of the prosthetic hand can be realized based on the electromyography （EMG） signals through two electrodes, the position and torque of the fingers can be controlled as well. The grasp experiments show that the prosthetic hand possesses high dexterity and grasp capability.