IEEE Trans Neural Syst Rehabil Eng. 2018 Jul;26(7):1391-1399. doi: 10.1109/TNSRE.2018.2844807.
This paper presents the design, tactile sensor, characterization, and control system of a new dexterous myoelectric hand prosthesis to overcome the limitations of state-of-the-art myoelectric prostheses (e.g., limited functionality, controllability, and sensory feedback). Our dexterous myoelectric hand allows independent finger movement and thumb abduction/adduction, with a motor for each finger and an additional motor for the thumb (i.e., six total motors). Each fingertip has a biomimetic tactile sensor with 13 tactile units, each of which can detect normal and tangential forces. The hand controller uses an electromyography pattern recognition controller and a tactile sensor feedback-based grasping controller to automatically and dynamically adjust the finger grasp force to prevent objects from slipping. This closed-loop controller structure will allow users to safely and effectively grasp complex objects with varying densities and shapes. In addition, the electronic hardware is integrated into the hand, and the pattern recognition controller can be implemented in the hand embedded system.
本文提出了一种新的灵巧肌电手假肢的设计、触觉传感器、特性和控制系统，以克服现有肌电假肢的局限性（例如，功能有限、可控性和感觉反馈）。我们的灵巧肌电手允许独立的手指运动和拇指外展/内收，每个手指有一个电机，拇指有一个额外的电机（即总共六个电机）。每个指尖都有一个仿生触觉传感器，有 13 个触觉单元，每个触觉单元都可以检测法向力和切向力。手控制器使用肌电图模式识别控制器和基于触觉传感器反馈的抓握控制器，自动动态调整手指抓握力，以防止物体滑落。这种闭环控制器结构将使用户能够安全有效地抓取具有不同密度和形状的复杂物体。此外，电子硬件集成到手部，模式识别控制器可以在手嵌入式系统中实现。
