本文選題：假肢手 + 主成份分析　； 參考：《華中科技大學(xué)》2015年碩士論文

【摘要】：理想的假肢手除了在外觀上與人手近似,還應(yīng)該在運(yùn)動(dòng)功能上滿足殘疾人日常生活的基本要求�；谝陨弦�,理想的假肢手系統(tǒng)應(yīng)該具有外觀優(yōu)美,結(jié)構(gòu)緊湊等要求。但是目前國內(nèi)外還沒有能達(dá)到這種要求的假肢手系統(tǒng)。為此,本文設(shè)計(jì)了一套擬人假肢手系統(tǒng),主要內(nèi)容包括:(1)建立了人手運(yùn)動(dòng)實(shí)驗(yàn)范式,并以此為基礎(chǔ)使用數(shù)據(jù)手套采集人手運(yùn)動(dòng)數(shù)據(jù)。通過對(duì)人手運(yùn)動(dòng)數(shù)據(jù)進(jìn)行主成份分析,揭示了人手抓取的機(jī)械原理和人手協(xié)同運(yùn)動(dòng)的特性,對(duì)人手手指的相關(guān)性進(jìn)行了研究。其中具體包括手指關(guān)節(jié)間的運(yùn)動(dòng)關(guān)系,手指間的運(yùn)動(dòng)關(guān)系和手指間的協(xié)同特性。(2)研制了復(fù)現(xiàn)人手運(yùn)動(dòng)譜的擬人假肢手,具體包括假肢手手指設(shè)計(jì)及驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì)。在假肢手手指設(shè)計(jì)中,主要講述了假肢手手指關(guān)節(jié)設(shè)計(jì)與簡(jiǎn)化辦法,在設(shè)計(jì)中我們將彈簧嵌入到手指內(nèi)部用于實(shí)現(xiàn)手指的自適應(yīng)功能。在驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì)中我們?yōu)榱藦?fù)現(xiàn)人手運(yùn)動(dòng)譜,區(qū)別于傳統(tǒng)的線性疊加的辦法,我們將運(yùn)動(dòng)分解為比例運(yùn)動(dòng)與縮放運(yùn)動(dòng),并將之以機(jī)械辦法實(shí)現(xiàn)。最后介紹了假肢手的整體設(shè)計(jì)布局。(3)驗(yàn)證了擬人假肢手的抓握性能,我們選取最有特點(diǎn)幾種抓取模式進(jìn)行抓取實(shí)驗(yàn),驗(yàn)證了假肢手抓取的效果和設(shè)計(jì)辦法的可行性。最后我們通過假肢手抓握力測(cè)試,對(duì)假肢手的抓握能力進(jìn)行了一定的評(píng)估,為下一代假肢手設(shè)計(jì)留下參考依據(jù)
[Abstract]:The ideal prosthetic hand should not only be similar to the hand in appearance, but also meet the basic requirements of the daily life of the disabled in terms of motor function. Based on the above requirements, the ideal prosthetic hand system should have beautiful appearance, compact structure and other requirements. However, there is no prosthetic hand system that can meet this requirement at home and abroad. Therefore, a humanoid prosthetic hand system is designed in this paper, the main contents of which include: 1) establishing the experimental paradigm of manual motion, and using data gloves to collect the data of human movement. Based on the principal component analysis of hand motion data, the mechanical principle of manual grasp and the characteristics of hand cooperative movement are revealed, and the correlation of hand fingers is studied. Including the motion relationship between the fingers and joints, the motion relationship between the fingers and the cooperative characteristics between the fingers. (2) A humanoid prosthetic hand is developed to reproduce the manual motion spectrum, including the finger design of the prosthetic hand and the design of the driving mechanism. In the design of prosthetic hand finger, the design and simplification of hand joint of prosthetic limb are mainly described. In the design, we embed the spring into the finger to realize the adaptive function of the finger. In order to reproduce the manual motion spectrum in the design of the drive mechanism, we decompose the motion into proportional motion and scaling motion, and realize them by mechanical method, which is different from the traditional linear superposition method. Finally, the overall design layout of prosthetic hand is introduced. The grasping performance of humanoid prosthetic hand is verified. We select the most characteristic grab modes to carry out grasping experiment, and verify the effect of prosthetic hand grab and the feasibility of design method. Finally, we evaluate the grip ability of the prosthetic hand by testing the grip strength of the prosthetic hand, and leave a reference for the design of the next generation prosthetic hand.
【學(xué)位授予單位】：華中科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：R496

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