三自由度比例控制肌电假手的设计*

作者：唐建友,罗志增 日期：2009-12-30/span> 浏览：3245 查看PDF文档

三自由度比例控制肌电假手的设计*

唐建友,罗志增
（杭州电子科技大学 自动化学院,浙江 杭州 310018）

摘要：针对电动假手的仿生控制问题，给出了一种三自由度实时比例控制肌电假手的设计方案。通过采集残臂上的4路表面肌电信号(SEMG)，采用能量时域分析法对信号进行了特征提取，并采用二叉决策树模式分类方法识别得到了手部3个自由度7个动作模式。由单片机构成的信号处理和控制电路，实现了三自由度电动假手的实时仿生控制；并根据表面肌电信号的强弱，采用多路SEMG能量加权法来求取多自由度假手的比例控制系数，实现了对电动假手的比例控制。试验结果表明，基于表面肌电信号的三自由度肌电假手响应速度快，动作准确率达到96%以上。
关键词：表面肌电信号;能量时域分析法;比例控制
中图分类号：R318;R496文献标识码：A文章编号：1001-4551(2009)12-0085-05

Design of threefreedom EMG artificial hand with proportional control
TANG Jianyou, LUO Zhizeng
(College of Automation, Hangzhou Dianzi University, Hangzhou 310018, China)
Abstract: Aiming at the problem of electric artificial hands bionic control, a design of threefreedom artificial hand with realtime and proportional control was proposed. Fourchannel surface electromyography (SEMG) signals were acquired from the amputee stump, then, timedomain analysis of energy was used for the feature extraction of signals, and seven motion patterns of hand were identified by using the pattern classification of binary tree. The signal processing and control circuit which was composed of singlechip computer achieved the realtime bionic control of threefreedom electric artificial hand. And the multichannel signals energy weighted was used to obtain coefficient, the proportional control for multidegree of freedom EMG prosthetic hand was realized, the proportional control of electric artificial hand was achieved according to the strength of SEMG. The experimental results indicate that the threefreedom electric artificial hand based on electromyography has fast response and motions accuracy rate reaches 96%.
Key words: surface electromyography(SEMG); timedomain analysis of energy; proportional control