利用触觉反馈实现上肢假肢的仿生抓握控制。
Utilizing Tactile Feedback for Biomimetic Grasping Control in Upper Limb Prostheses.
作者信息
Osborn Luke, Thakor Nitish V, Kaliki Rahul
机构信息
Department of Biomedical Engineering, Johns Hopkins University, Baltimore, USA.
Infinite Biomedical Technologies, Baltimore, USA.
出版信息
Proc IEEE Sens. 2013 Nov;2013. doi: 10.1109/icsens.2013.6688445. Epub 2013 Dec 19.
A biomimetic system for enhancing the control and reliability of grasping with prosthetic hands was designed and experimentally evaluated. Barometric pressure sensors as well as a force-sensitive resistor (FSR) were placed on a prosthetic hand to provide valuable tactile feedback. Contact and slip detection grip control algorithms were developed to interpret force signals for enhancing stable grasping. Recent advances in radio-frequency identification (RFID) technology enable the amputee to select between grip control strategies based on the desired object to be grasped. Experimental results indicate that the control algorithms are capable of utilizing real-time force responses to detect object contact as well as slip. By allowing the user to act as a high-level controller with RFID technology, a multi-faceted low-level controller that responds to tactile feedback can be developed for enhancing grasping functionality in prosthetic hands.
设计并通过实验评估了一种用于增强假手抓握控制和可靠性的仿生系统。将气压传感器以及力敏电阻（FSR）放置在假手上，以提供有价值的触觉反馈。开发了接触和滑动检测抓握控制算法，用于解释力信号以增强稳定抓握。射频识别（RFID）技术的最新进展使截肢者能够根据要抓握的目标物体在抓握控制策略之间进行选择。实验结果表明，控制算法能够利用实时力响应来检测物体接触以及滑动。通过允许用户使用RFID技术作为高级控制器，可以开发一种响应触觉反馈的多方面低级控制器，以增强假手的抓握功能。
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