基于力触觉感知与电刺激反馈的灵巧假手
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摘要
针对生机电一体化灵巧操作假手这类典型共融机器人,开展结构优化、力触觉感知和临场感反馈功能重建的研究。为此,提出了一种用于欠驱动手指机构设计的交叉四连杆参数优化方法,该方法实现了手指运动轨迹最优、近指关节(PIP)扭矩与掌指关节(MCP)扭矩之比最大;提出了义肢手指与柔性压力传感器的集成设计方法,实现假手对抓握物体的实时力触觉感知;提出了基于电刺激的指端力触觉临场感反馈方法,实现对义肢抓握情况和握力的再现,增加操作者的本体感。该假手手指运动学与动力学仿真结果表明,所提出的连杆参数优化方法能够提升手指的抓握能力。对9名肢体健全受试者与1名前臂截肢患者进行灵巧假手控制试验,试验结果表明,所提出的指尖力触觉感知方法能够很好辅助受试者完成精细抓握控制;使用电刺激方式作为力触觉临场感反馈器具有更好的本体感知效果。同时,明显提升受试者在视觉受阻碍状况下使用假手完成抓取任务的成功率。
The structural optimization, force tactile perception and the reconstruction of feedback function of a typical human-robot-environment synergic robot such as bio-electromechanical integrated dexterous manipulation prosthesis are studied. A method of cross-four-bar linkage parameter optimization for underactuated finger mechanism design is proposed, this method achieves the optimal trajectory of finger and the maximum ratio of PIP to MCP. The integrated design method of prosthetic finger and flexible pressure sensor is proposed to realize real-time force and tactile perception for grasping object. The method of tactile feedback of fingertip force based on electric stimulation is proposed to reproduce the grasp situation and grip strength of the prosthesis to increase the operator's sense of ontology. The simulation results show that the proposed method can improve the grasping ability of fingers. Nine healthy subjects and one forearm amputee were performed with dexterous hand control experiment.The experimental results showed that the proposed fingertip force tactile perception method could assist the subjects to complete fine grasp control. Compared with vibration stimulation, the use of electric stimulation as a force and tactile sense feedback device has better proprioception effect, and significantly improves the success rate of using the artificial hand to complete the grabbing task under visual obstruction.
The structural optimization, force tactile perception and the reconstruction of feedback function of a typical human-robot-environment synergic robot such as bio-electromechanical integrated dexterous manipulation prosthesis are studied. A method of cross-four-bar linkage parameter optimization for underactuated finger mechanism design is proposed, this method achieves the optimal trajectory of finger and the maximum ratio of PIP to MCP. The integrated design method of prosthetic finger and flexible pressure sensor is proposed to realize real-time force and tactile perception for grasping object. The method of tactile feedback of fingertip force based on electric stimulation is proposed to reproduce the grasp situation and grip strength of the prosthesis to increase the operator's sense of ontology. The simulation results show that the proposed method can improve the grasping ability of fingers. Nine healthy subjects and one forearm amputee were performed with dexterous hand control experiment.The experimental results showed that the proposed fingertip force tactile perception method could assist the subjects to complete fine grasp control. Compared with vibration stimulation, the use of electric stimulation as a force and tactile sense feedback device has better proprioception effect, and significantly improves the success rate of using the artificial hand to complete the grabbing task under visual obstruction.
引文
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[21]胡旭晖,宋爱国,李会军.基于表面肌电图像的灵巧假手控制系统[J].控制理论与应用,2018,35(12):1707-1714.HU Xuhui,SONG Aiguo,LI Huijun.Dexterous robot hand control system based on surface electromyography image[J].Control Theory&Applications,2018,35(12):1707-1714.
[2]BUTTERFA?J,GREBENSTEIN M,LIU H,et al.DLR-Hand II:Next generation of a dextrous robot hand[C]//Proceedings 2001 ICRA.IEEE International Conference on Robotics and Automation(Cat.No.01CH37164).IEEE,2001:109-114.
[3]OMARKULOV N,TELEGENOV K,ZEINULLIN M,et al.Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics[C]//2015 37th Annual International Conference of the IEEEEngineering in Medicine and Biology Society(EMBC).IEEE,2015:2474-2477.
[4]CONTROZZI M,CLEMENTE F,BARONE D,et al.The SSSA-MyHand:A dexterous lightweight myoelectric hand prosthesis[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2017,25(5):459-468.
[5]CHOI K Y,AKHTAR A,BRETL T.A compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant[C]//2017 IEEE International Conference on Robotics and Automation(ICRA).IEEE,2017:6694-6699.
[6]RODRIGUEZ N E N,CARBONE G,CECCARELLI M.Optimal design of driving mechanism in a 1-DOFanthropomorphic finger[J].Mechanism and Machine Theory,2006,41(8):897-911.
[7]HUA L,SHENG X,ZHANG D,et al.Towards the analysis and optimization of underactuated hands for effective grasp[J].International Journal of Humanoid Robotics,2016,13(3):1650004.
[8]CHENG M,JIANG L,NI F,et al.Design of a highly integrated underactuated finger towards prosthetic hand[C]//2017 IEEE International Conference on Advanced Intelligent Mechatronics(AIM).IEEE,2017:1035-1040.
[9]ZHANG T,WANG X Q,JIANG L,et al.Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic applications[J].Robotica,2016,34(10):2291-2308.
[10]XIONG C H,CHEN W R,SUN B Y,et al.Design and implementation of an anthropomorphic hand for replicating human grasping functions[J].IEEETransactions on Robotics,2016,32(3):652-671.
[11]BELTER J T,SEGIL J L,DOLLAR A M,et al.Mechanical design and performance specifications of anthropomorphic prosthetic hands:A review[J].Journal of Rehabilitation Research&Development,2013,50(5):599-618.
[12]CATALANO M G,GRIOLI G,FARNIOLI E,et al.Adaptive synergies for the design and control of the Pisa/IIT SoftHand[J].The International Journal of Robotics Research,2014,33(5):768-782.
[13]WU C,SONG A,LING Y,et al.A control strategy with tactile perception feedback for EMG prosthetic hand[J].Journal of Sensors,2015(2015):1-15.
[14]CHAI G,SUI X,LI S,et al.Characterization of evoked tactile sensation in forearm amputees with transcutaneous electrical nerve stimulation[J].J.Neural Eng.,2015,12(6):066002.1-14.
[15]金世俊,黄惟一,宋爱国.遥作机器人触觉临场感的电触觉实现[J].机器人,1997,19(5):333-337.JIN Shijun,HUANG Weiyi,SONG Aiguo.Electro-tactile realization of telepresence robot touch sense[J].Robot,1997,19(5):333-337.
[16]帅立国,况迎辉,宋爱国,等.背指式指端电触觉再现装置及其性能评价[J].工业仪表与自动化装置,2000(6):25-27.SHUAI Liguo,KUANG Yinghui,SONG Aiguo,et al.Back-finger fingertip electric tactile reproducing device and its performance evaluation[J].Industrial Instrumentation Automation,2000(6):25-27.
[17]徐飞,张定国,许恒.电触觉的皮肤神经机理仿真及实验验证[J].中国生物医学工程学报,2014,33(1):22-27.XU Fei,ZHANG Dingguo,XU Heng.Simulation and experimental verification of skin nerve mechanism of electrical touch[J].Chinese Journal of Biomedical Engineering,2014,33(1):22-27.
[18]张定国,朱向阳.功能性电刺激研究在中国的回顾、现状与展望[J].中国康复理论与实践,2010,16(9):848-850.ZHANG Dingguo,ZHU Xiangyang.Review,status quo and prospect of functional electrical stimulation research in China[J].Chinese Rehabilitation Theory and Practice,2010,16(9):848-850.
[19]CHAI G,ZHANG D,ZHU X.Developing non-somatotopic phantom finger sensation to comparable levels of somatotopic sensation through user training with electrotactile stimulation[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2017,25(5):469-480.
[20]ZHANG D,XU H,SHULL P B,et al.Somatotopical feedback versus non-somatotopical feedback for phantom digit sensation on amputees using electrotactile stimulation[J].Journal of Neuroengineering and Rehabilitation,2015,12(1):44-54.
[21]胡旭晖,宋爱国,李会军.基于表面肌电图像的灵巧假手控制系统[J].控制理论与应用,2018,35(12):1707-1714.HU Xuhui,SONG Aiguo,LI Huijun.Dexterous robot hand control system based on surface electromyography image[J].Control Theory&Applications,2018,35(12):1707-1714.