Key Issues Research, Based On Tactile And Slip Control Of Smart Prosthetic Hand

The intelligent hand is a leading edge subject for research of robotics and biomedical engineering field. Because of the deficiency of the grip control and feel feedback control in the EMG controlled hand at present, corresponding to numerous and jumbled control device, it is necessary to research in the field of hold control and feel feedback of artificial hand. The intelligent hand shows better bio-imitability and adaptability than the conventional hand, it is a necessary trend of research development from EMG controlled hand to the intelligent hand.The emphasis of this paper is researching PVDF piezoelectric film sensor that can be used to examine the sense of touch and slip between artificial hand fingers and the object, research neuromuscular signal that relate to EMG controlled hand closely, expect to help the development of EMG controlled hand, put forward control scheme of intelligent hand.The main work of this thesis:(1) Research the soft PVDF tactile and slip sensor that suitable for EMG controlled hand, analyze the characteristic of tactile and slip signals, deal with sensing information, offer clear contact and slide information for control system.(2) Design an analyse and process database of EMG signals for carry on effective analysis to the characteristic of EMG signals. Extract and analyse part of neuromuscular signals, design an analyse and disposal software of EMG.(3) To realize the function of adjust grip automatically for EMG controlled hand, solve the coordinate relation between EMG signals and tactile-slip signals, put forward a plan of a closed loop control system for intelligent hand.The tactile and slip sensor that was made of PVDF sensitive material is reliable in performance, its signals can be identified easily. This kind of touch and slip sensor is small, light weight, sensitivity and high reliability, easy to be installed in the finger of artificial hand.Analyse and process database of EMG signals is used to enquire and manage EMG files, carry data processing of EMG signals, extract some features of EMG signals, so as to control action of artificial hand. EMG analyse and disposal software designed from the angle of clinical medicine offers good help to the development of EMG controlled hand.