發(fā)布時間：2018-03-16 05:35

  本文選題：假手　切入點：表面肌電信號　出處：《系統(tǒng)仿真學(xué)報》2017年05期 　論文類型：期刊論文

【摘要】：為了減少假手研制過程中投入的大量成本和費用,充分利用虛擬技術(shù),搭建假手的仿真系統(tǒng)。采用Pro/E虛擬建模軟件,搭建具有多自由度的假手樣機模型;將其導(dǎo)入到ADAMS中,對假手進(jìn)行運動學(xué)仿真,驗證其合理性。通過ADAMS與MATLAB的接口模塊ADAMS/Control,利用MATLAB/Simulink模塊搭建假手模型的控制系統(tǒng),將對應(yīng)的手部動作模式信息轉(zhuǎn)化為假手關(guān)節(jié)期望角度;將肌電信號采集系統(tǒng)采集的信號,采用基于絕對值均值的閾值決策法進(jìn)行處理,提取肌電信號的時域特征,送入MATLAB,進(jìn)行聯(lián)合仿真。研究結(jié)果表明,基于MATLAB和ADAMS的肌電假手的仿真系統(tǒng)實現(xiàn)了對肌電假手的驅(qū)動,驗證了肌電假手控制方案的可行性。
[Abstract]:In order to reduce the large amount of cost and expense invested in the development of prosthetic hand, the simulation system of prosthetic hand is built by making full use of virtual technology. The virtual modeling software of Pro/E is used to build the prototype model of prosthetic hand with multiple degrees of freedom, and the model is imported into ADAMS. The kinematics simulation of the prosthetic hand is carried out to verify its reasonableness. Through the interface module of ADAMS and MATLAB, Adams / control, the control system of the prosthetic hand model is built by using the MATLAB/Simulink module, and the corresponding information of the hand movement mode is transformed into the desired angle of the prosthetic hand joint. The signals collected by EMG signal acquisition system are processed by threshold decision method based on absolute mean value, and the time domain feature of EMG signal is extracted, then sent to MATLAB for joint simulation. The results show that, The simulation system of myoelectric prosthetic hand based on MATLAB and ADAMS realizes the drive of myoelectric prosthetic hand and verifies the feasibility of the control scheme of myoelectric prosthetic hand.
【作者單位】： 哈爾濱理工大學(xué)自動化學(xué)院;哈爾濱理工大學(xué)測通學(xué)院;
【基金】：國家“863”重大項目(2009AA043803)
【分類號】：TP391.9
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本文編號：1618583