基于FSR的假肢手抓握力控制

Grip force control of prosthetic hands based on FSR

为了帮助上肢残疾者稳定抓取日常物品,提出了一种基于力敏电阻(FSR)的假肢手抓握力控制方法。FSR采集假肢手抓取力,并根据抓握力及其梯度,建立了假肢手抓握力模糊估计模型。然后将模糊控制器应用于假肢手抓握力控制,并采用试凑法得到模糊控制参数的值。假肢手抓握实验表明:所提出的基于FSR假肢手期望抓握力的估计和抓握力控制的方法是有效的。

In order to help amputees grasp everyday objects stably,a force estimation method is presented for prosthetic hands based on force sensitive resistors（ FSR）. Grasping force signal is obtained by FSR,and analysis the force and its gradient signal to the different objects. A grip fuzzy estimation model is established. Fuzzy controller is applied to control the prosthetic and its parameters are obtains by cut-and-trial. Experimental results of prosthetic hand show that the proposed method about desired grip force estimation based on FSR and grip force control is effective.