Prosthetic Hand Fuzzy Control Based on Touch and Myoelectric Signal
LUO Zhi-zeng1, YANG Guang-ying2
1. Robot Research Institute, Hangzhou Dianzi University, Hangzhou 310018, China; 2. School of Information and Electronics Engineering, Taizhou University, Linhai 317000, China
罗志增, 杨广映. 基于触觉和肌电信号的假手模糊控制方法研究[J]. 机器人, 2006, 28(2): 224-228..
LUO Zhi-zeng, YANG Guang-ying. Prosthetic Hand Fuzzy Control Based on Touch and Myoelectric Signal. ROBOT, 2006, 28(2): 224-228..
Abstract：This paper introduces a fuzzy control method for myoelectric prosthesis with tactile sense.By recognizing myoelectric signals(MESs) effectively,a bionic control of the prosthetic hand is implemented based on touch and MES.In order to reduce the individual difference of MES,and make it be used reliably by various amputees,a cross-power spectrum coefficient(CSC) method is adopted to deal with MES.The relationship between the cross-power spectrum parameters and the hand movement patterns is analyzed,and the disturbance caused by immeasurable noises in the actual system is eliminated.A fuzzy controller is designed specially to control movement steps of the myoelectric prosthetic hand and make the myoelectric prosthetic hand grasp object stably.Experimental results indicate that this method can not only increase the recognition ratio of movement patterns,but also decrease possible damage to the grasped objects.
[1] 杨福生,高上凯.生物医学信号处理[M].北京;高等教育出版社,1989.607-640. [2] Tura A,Lamberti C,Davalli A,et al.Experimental development of a sensory control system for an upper limb myoelectric prosthesis with cosmetic covering[J].Journal of Rehabilitation Research & Development,1998,35(1);14-26. [3] Wang R C,et al.Research and development of the surface EMG detection and analysis system[J].Chinese Journal of Biomedical Engineering,1998,22(2);63-66. [4] Cai L Y,Wang Z Z,Zhang H H.Sufface EMG signal classification method based on wavelet transform[J].Journal of Data Acquisition & Processing,2000,15(2);255-258. [5] 罗志增,蒋静坪.机器人感觉与多信息融合[M].北京;机械工业出版社,2002. [6] Qiu W Z,Hua Y B.Performance analysis of the subspace method for blind channel identification[J].Signal Processing,1996,50(1-2);71-81. [7] Ronager J,Christensen H,Fuglsang-Frederiksen A.Power spectrum analysis of the EMG pattern in normal and diseased muscles[J].Journal of the Neurological Sciences,1989,94(1-3);283-294. [8] Ito H,Matsubara T,Kurokawa T,et al.A proposal of fault-checking fuzzy control[A].Proceedings of the 22nd International Symposium on Multiple-Valued Logic[C].Piscataway,USA;IEEE,1992.428-434. [9] 韦巍.智能控制技术[M].北京;机械工业出版社,2000.37-82.
