Zhang Zhuozhi, Zhang Jie, Luo Qi, Chou Chih-Hong, Xie Anran, Niu Chuanxin M, Hao Manzhao, Lan Ning
Laboratory of Neurorehabilitation Engineering, School of Biomedical EngineeringShanghai Jiao Tong University Shanghai 200240 China.
Institute of Medical RoboticsShanghai Jiao Tong University Shanghai 200240 China.
IEEE Open J Eng Med Biol. 2022 Oct 19;3:150-161. doi: 10.1109/OJEMB.2022.3215726. eCollection 2022.
Human neuromuscular reflex control provides a biological model for a compliant hand prosthesis. Here we present a computational approach to understanding the emerging human-like compliance, force and position control, and stiffness adaptation in a prosthetic hand with a replica of human neuromuscular reflex. A virtual twin of prosthetic hand was constructed in the MuJoCo environment with a tendon-driven anthropomorphic hand structure. Biorealistic mathematic models of muscle, spindle, spiking-neurons and monosynaptic reflex were implemented in neuromorphic chips to drive the virtual hand for real-time control. Simulation showed that the virtual hand acquired human-like ability to control fingertip position, force and stiffness for grasp, as well as the capacity to interact with soft objects by adaptively adjusting hand stiffness. The biorealistic neuromorphic reflex model restores human-like neuromuscular properties for hand prosthesis to interact with soft objects.
人类神经肌肉反射控制为柔顺的手部假肢提供了一种生物学模型。在此，我们提出一种计算方法，用于理解具有人类神经肌肉反射复制品的假肢中出现的类似人类的柔顺性、力和位置控制以及刚度适应性。在MuJoCo环境中，利用腱驱动的拟人化手部结构构建了假肢的虚拟模型。在神经形态芯片中实现了肌肉、肌梭、脉冲神经元和单突触反射的生物逼真数学模型，以驱动虚拟手进行实时控制。模拟结果表明，该虚拟手具备类似人类的控制指尖位置、力和刚度以进行抓握的能力，以及通过自适应调整手部刚度与柔软物体相互作用的能力。这种生物逼真的神经形态反射模型恢复了手部假肢与柔软物体相互作用时类似人类的神经肌肉特性。
