多自由度仿生假手嵌入式控制系统及其抓取策略

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李楠, 赵京东, 姜力, 刘宏, 蔡鹤皋. 多自由度仿生假手嵌入式控制系统及其抓取策略[J]. 机器人, 2011, 33(1): 22-27.. LI Nan, ZHAO Jingdong, JIANG Li, LIU Hong, CAI Hegao. Embedded Control System for Multi-DOF Anthropomorphic Prosthetic Hand and Its Grasping Strategy. ROBOT, 2011, 33(1): 22-27..

摘要为一种能够实现5指独立动作以及具备人机交互能力的多自由度仿生假手设计了手部嵌入式控制系统．该系统由传感器系统和运动控制系统构成，集成于假手机体内部，通过通信总线与上层控制器交换信息．传感器系统包括3种类型，共12个传感器，可为假手自主抓取以及人机交互中的感觉反馈提供数据，运动控制系统用于控制、驱动各手指动作．此外，本文以基于位置的阻抗控制为底层，以动作预构形为上层设计了分层控制策略．实验表明，该嵌入式控制系统和分层控制策略使假手实现了自主抓取功能，提高了抓取的柔顺性、稳定性和适应性．

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关键词 ：嵌入式控制系统, 仿生假手, 预构形, 阻抗控制, 自主抓取

Abstract：An embedded control system is designed for a kind of multi-DOF anthropomorphic prosthetic hands with five individually driven fingers and the capability of man-machine interaction.The proposed system is composed of sensory system and motion control system.They are all integrated in the body of prosthetic hand.To exchange information,the communication bus is used between the hand and the upper controller.Three kinds,a sum of 12 sensors are equipped both for automatic grasp control and for sensory feedback during man-machine interaction.The function of driving and controlling the motion of the fingers is supported by the motion control system.Furthermore,a kind of hierarchical control strategy is presented.The position based impedance control works as the low level and the feature pre-shape works as the high level. The experimental results show that,by the support of the embedded control system and the hierarchical control strategy,the prosthetic hand realizes automatic grasp,and its grasping compliance,stability and suitability are improved.

Key words： embedded control system anthropomorphic prosthetic hand pre-shape impedance control automatic grasp

收稿日期: 2010-04-09 录用日期: 2010-07-13

TP241.3

基金资助:国家863计划资助项目（2009AA043803，2008AA04Z203）；新世纪优秀人才支持计划资助项目（NCET-09-0056）

通讯作者: 李楠 E-mail: nan1i0111102@163.com

作者简介: 李楠（1982- ），男，博士生．研究领域：生物机电一体化技术，机器人技术．
赵京东（1977- ），男，副教授，硕士生导师．研究领域：生物机电一体化技术，机器人技术．
姜力（1970- ），男，教授，博士生导师．研究领域：生物机电一体化技术，机器人技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I1/22

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