基于电流信号估计抓握力的假肢手抓握控制

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英文篇名：Grasp force control of prosthetic hands based on force estimation using motor current signals 作者：卓雯迪 ; 罗焕新 ; 邓华 英文作者：ZHUO Wen-di;LUO Huan-xin;DENG Hua;School of Mechanical and Electrical Engineering,Central South University; 关键词：假肢手 ; 电流估计力 ; 比例—积分—微分控制 英文关键词：prosthetic hands;;current estimation force;;proportional-integral-differential(PID)control 中文刊名：CGQJ 英文刊名：Transducer and Microsystem Technologies 机构：中南大学机电工程学院; 出版日期：2019-01-16 11:34 出版单位：传感器与微系统 年：2019 期：v.38;No.324 基金：国家“973”计划资助项目(2011CB013302) 语种：中文; 页：CGQJ201902004 页数：4 CN：02 ISSN：23-1537/TN 分类号：18-21

摘要

为避免假肢手需外置力传感器进行抓握力控制的不足,提出了一种通过电流信号估计抓握力的假肢手抓握力控制方法。根据假肢手模型、接触力模型和直流(DC)电机模型建立基于电流信号的假肢手抓握力估计模型,将抓握力估计模型与比例—积分—微分(PID)控制器结合,在无需外置力传感器的情况下对假肢手进行抓握力控制。抓握控制仿真和实验表明:所提出的假肢手抓握力估计方法和控制方法有效。
        In order to avoid the shortcomings of external force sensors equipped on prosthetic hands in the grasping force control,a grasping force control method of prosthetic hands based on force estimation using motor current signals is proposed. Combining the prosthetic hand model,the contact force model and the direct current( DC) motor model,a grasping force estimation model based on current signals is established. The force estimation model is applied to the proportional-integral-differential( PID) force controller to achieve grasping control of prosthetic hands without external force sensors. Grasping control simulations and experiments show that the proposed methods of estimating and controlling the grasping force of prosthetic hands are effective.

引文

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