摘要
研究了一种具有力/位感知、各手指独立驱动的五自由度仿人型残疾人假手控制系统。该控制系统采用分层控制的结构,其中底层控制器基于DSP+CPLD实现五自由度假手的运动控制。底层控制器放置在假手内部,实现仿人型假手系统的高度集成。采用基于位置的阻抗控制策略,在线调整目标阻尼参数,改善了假手阻抗控制系统的性能。
A control system was designed for the 5-DOFs （degrees of freedom） humanoid prosthetic hand with force/position sensing that can be actuated individually. The control system has the hierarchical control structure. The bottom controller is based on the DSP＋CPLD architecture and can realize the motion control of the prosthetic hand. The controller is integrated in the prosthetic hand body, and the high-level integration of the prosthetic hand is achieved. Based on the position-based impedance control strategy, a target damping coefficient online-adjusting impedance control method is proposed. The method improves the performance of the impedance control system for the prosthetic hand.
基金
国家自然科学基金重点项目(50435040)
国家高技术研究发展计划(863计划)重点项目(2009AA043803)
关键词
仿人型假手
力/位感知
阻抗控制
阻尼
humanoid prosthetic hand
force/position sensing
impedance control
damping
