席旭刚, 罗志增. 具有触觉临场感和肌电仿生控制功能的遥控机械手研究[J]. 机器人, 2009, 31(3): 270-275..
XI Xu-gang, LUO Zhi-zeng. A Tele-manipulator with Tactile Tele-presence and Myoelectric Bionic Control. ROBOT, 2009, 31(3): 270-275..
Abstract:This paper presents a method that controls the tele-manipulator by combining tactile tele-presence with myoelectric bionic control.Surface electromyography(SEMG) is collected from the forearm.Motion patterns of the hand are recognized from SEMG by autoregressive(AR) model and Bayes taxonomy,and the tele-manipulator is controlled to perform the corresponding movement.The tactile and slip sensor using PVDF(polyvinylidene fluoride) as sensitive material is fitted on the tele-manipulator finger.When the tele-manipulator is holding or touching an object,the tactile and slip signals are created and then transformed into electrical stimuli which stimulate the operator,hence the tactile tele-presence is achieved. The operator can control the motion of his hand with tactile tele-presence.Experimental results indicate that the method can improve the bionic controllability of tele-manipulator.
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