Translated Abstract
With the development of national economy and society, the welfare of disabled person have drawn more and more attention of the community. Light weight, small size, high reliability,simple control and flexible operation are the development trends of multiple degrees offreedom prosthetic hand. The development of smart prosthetic hand can improve the lives of disabled people, and at the same time, due to the interdisciplinary characteristics of smart prosthetic hand, it can promote mutual penetration of the relevant technology. This paper analyzes the characteristics of bones of hand, joints, and determines the design ofmulti-degree-of-freedom prosthetic hand based on the underactuated principle. Then the prosthetic hand is modeled based on the characteristics of hand. On the basis of model, kinematics and dynamics analysis of prosthetic hand finger are maked and the grab processof prosthetic hand is discussed. Research the signal characteristics of choosed tactile and slip sensor, and the control experiment platform of smart prosthetic hand is designed and built, the grab process of prosthetic hand is researched in this platform. The main works of the thesis are presented as follows:1. Design of bionic prosthetic hand based on the underactuated principle. Firstly, research thestructure and the law of motion of hand, and analyze the movement of the prosthetic hand. And then select a design method based on the underactuated principle. A motor can drive three joints movements. Envelope grab process of prosthetic hand can realize. Finally, thevarious components of prosthetic hand are modeled and assembly of the wholehand model is finished. The mechanical design of the prosthetic hand is achieved.2. The kinematics and dynamics analysis of prosthetic hand. On the basis of the Prosthetic hand model, the structure of the prosthetic hand is decomposed and mechanical characteristics is analyzed. Based on the structure model, kinematic analysis is researchedand simulation is maked in SolidWorks. Importing the prosthetic hand model into Adams, adding constraints, establishment the dynamic model, the dynamics simulation analysis of prosthetic hand finger is researched.3. The tactile and slip perception technology research of smart prosthetic hand. Firstly, research the perception function of grab process. Then analyze the working principle of choosed tactile and slip sensor. Further, according to the features of sensor adhere to the prosthetic hand finger, the sensor is modeled and the characteristics is researched. Finally, select related filtering method based on the Laplace as the perception algorithm.4. Control technology research of prosthetic hand based on tactile and slip driven. Firstly, grab process of prosthetic hand is analyzed, and the overall control block diagram is established. Further, the perception and mechanical signals are as feedback informationtransferred to central processing unit. Finally the central processing unit will send control instructions to control prosthetic hand according to the intelligent logic judgment.5. Experimental research of smart prosthetic hand with tactile and slip perception. Prosthetic hand experimental platform with the perception of tactile and slip based on the MCU is designed. Firstly, cut and stick the sensor according to the shape of the prosthetic hand finger. Secondly, use the Emotiv acquire EEG signals as the source signal of the prosthetic hand. Finally, built up the entire system and get the tactile and slip signal in the grab process. The signals are processed by perception algorithm.
Corresponding authors email
