Research On Electric System And Control Of Prosthetic Hand And Wrist

Hands and wrists play an important role in people's daily work,study and life.Most human activities are inseparable from the participation of hands.Therefore,the development of a lightweight,flexible and convenient wrist hand prosthesis system will bring great convenience to the life of upper limb disabled people.As early as the middle of the 20 th century,some European and American countries began to study prosthetics.Our country started relatively late in this aspect,and the technology is relatively backward.Therefore,it is particularly important to develop an advanced wrist hand system of humanoid intelligent prosthetics for improving the research and development ability of prosthetics in our country.According to the mechanical structure and functional requirements of hit-vi prosthetic hand and wrist,this paper designs its electrical system.On this basis,the sensor signal processing and system parameters acquisition are completed.Finally,the motion and grasping control of the prosthetic hand and wrist are studied.The mechanical structure determines the flexibility of the prosthetic wrist,and the electrical system is the key to give full play to its function.In this paper,a set of modular,integrated and high stability electrical system is designed and manufactured for prosthetic hand and wrist.The system has many functions,such as driving linear motor and DC motor,collecting and processing multi-channel sensor data in real time,executing control algorithm and completing high-speed and stable communication between modules.In addition,all the PCB circuit boards in the electrical system are installed in the prosthetic hand and wrist.In the negative feedback control system,the quality of the feedback signal and whether the system parameters are known often affect the control accuracy and stability of the closed-loop system.This paper will focus on the current data and position information processing of the motor,and complete the motor speed estimation,in order to realize the safe and stable operation of the electrical system and mechanical structure.On this basis,the parameters of the motor are identified to complete the precise control of the motor.Finally,the function of the prosthetic hand and wrist is verified.In order to evaluate the flexibility of the prosthetic wrist hand system,this paper designs an experiment to control the fingertip of the prosthetic hand in Cartesian space by wrist hand cooperation.In order to verify the grasping ability of prosthetic hand,an effective control method is proposed in this paper,which can control the grasping force smoothly when the prosthetic hand grasps objects of different materials.Finally,the experiment is designed to control the wrist hand system to complete the simple operation in daily life.