Control System And Motion Control Algorithm Design Of An Anthropomorphic Hand

Manpower is an integral part of daily life.However,due to diseases,accidents and other reasons,there are a large number of hand amputation patients in the world.It is the dream of the amputation patients and the researchers to reconstruct the movement function of hand.This thesis analyzes the application scene of the humanoid dexterous hand,and puts forward the appropriate control scheme for the possible application scenarios.According to the output signal characteristics of sEMG and sensor glove,the relative motion control method is designed.On this basis,the design of hardware system and software system is completed,and a software architecture which is easy to reuse and expand is formed.Finally the feasibility of the control system reliability and motion control algorithm is verified by the motion function test experiment.The main work of this thesis is as follows:(1)This paper puts forward the control scheme of the humanoid dexterous hand in different application situations: the main application scenes of the humanoid dexterous hand are analyzed.The exercise function of the patients with hand amputation is reconstructed and the operation is done in special environment.In view of the above application scenario,a humanoid dexterous hand control scheme based on forearm sEMG and a control scheme based on the sensor glove are proposed.(2)The Software design architecture of personification dexterous hand is put forward: the software is divided into four levels of data transfer,interface interaction,motion control and program execution,and the class design is completed according to the relationship between the calsses.This design framework embodies the principle of closing the changes and opening up to the extended.(3)A method based on sEMG is designed to control the movement of humanoid dexterous hand: According to the structure of muscle bone system,the sEMG collection point on forearm is determined,and the method of mean filter and double threshold analysis is used to deal with sEMG signal,and the motion intention of manpower is obtained.The time lag of signal acquisition and processing is compensated by the method of time series analysis.Combined with the sEMG signal processing results and motion control strategy,the real-time following of human hand is realized.(4)The motion function and the motion control algorithm verification: According to the proposed 33 kinds of common grasping method we tested the humanoid dexterous hand grasping ability based on the sEMG control,and carried on the palm operation and the fine operation test.The test proves the reliability of the control system and the feasibility of the motion control algorithm.