具有触觉临场感和肌电仿生控制功能的遥控机械手研究

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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..

摘要提出了一种结合触觉临场感和肌电仿生控制技术的遥控机械手控制方法．采集手臂皮肤表面的肌电信号（表面EMG），结合AR模型和贝叶斯分类方法判断出手部的运动模式，控制机械手完成相应的动作．触滑觉组合传感器以压电材料PVDF为敏感体，安装于遥控机械手的手指上．机械手抓握或触摸物体时产生触滑觉，触滑觉信号经处理后通过电刺激来刺激操控人员，实现触觉临场感；操控者可根据触觉临场感来掌握自己的手部动作．实验表明，所提方法能提高遥控机械手的仿生控制能力．

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	席旭刚
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关键词 ：遥控机械手, 临场感, 表面肌电, 触觉传感器

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.

Key words： tele-manipulator tele-presence surface electromyography(SEMG) tactile sensor

收稿日期: 2008-08-07

TP241.2

基金资助:国家自然科学基金资助项目（60874102）；国家863计划资助项目（2008AA04Z212）；浙江省教育厅科研计划资助项目（Y200702117）

作者简介: 席旭刚（1975- ），男，硕士，讲师．研究领域：智能机器人，传感器，生物医学信息处理．
罗志增（1965- ），男，博士，教授，博士生导师．研究领域智能机器人，传感器，生物医学信息处理．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I3/270

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