基于虚拟现实技术的多功能肌电假肢控制系统开发平台

Virtual Reality Technology Based on Development Platform of Multifunctional Prosthesis Control System

利用虚拟现实技术开发的多功能假肢控制系统开发平台,可以研究肌电解码控制多功能假肢的实时操控性能,便于对影响多功能肌电假肢临床控制性能的动态因素及如何提高和改善多功能肌电假肢控制性能进行详细的研究。另外,肌电假肢的使用存在训练过程漫长、使用者精神负担大等问题,利用虚拟手代替真实肌电手进行训练,可以营造一种轻松训练环境;本系统利用SolidWorks绘制出三维手臂,再用虚拟现实三维建模方法和建模语言(VRML)节点语法编辑出完整的虚拟手臂场景,利用MATLAB中的simulink工具搭建虚拟手控制平台,实现虚拟世界和外界的交互;该系统可以通过从残疾人残余肌肉采集的肌电信号进行解码、时域特征提取、动作类型识别等操作,最终实现用肌电信号控制虚拟手臂。

Using a virtual reality （VR） technology based development platform of multifunctional prosthesis control system, we can quantify the performance of real--time control of a multifunctional myoelectric prosthesis. This development platform also can be used to investigate the effect of various dynamic factors in practical application of a prosthesis system on the prosthesis control performance of multipurpose myoelectric prosthesis, which will provide information about how to enhance and improve the control performance of a multifunctional myoelectril prosthesis. In addition, it is well known that learning to operate a myoelectric prosthesis needs a long training process and the us- ers suffer heavy mental burden from the training. The VR--based platform may provide a relaxant and enjoyable training environment. To develop this platform system, a three--dimensional upper limb was drawn by using Solidworks and then edited to an integrated scene of virtual artificial limb with virtual reality modeling and modeling language （VRML）. Finally, the platform system performed through simulink of the MATLAB the interactions between virtual world and outside real world. By decoding of electromyography （EMG） signals collected from arm muscle surface, the platform system could identify the classes of different arm and hand movements and control the virtual artificial limb and/or the physical arms simutineously.