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本文基于黎曼几何分类算法,探索了使用运动相关皮层电位(MRCPs)解码3种自然抓握动作的运动学信息的可能性。本研究采集了9名受试者在执行指捏、掌握和旋拧动作(包括两种不同水平的速度和力)的脑电图信号。在进行信号的预处理之后,将信号转化到协方差空间输入到黎曼均值最小距离(MDRM)分类器,实现基于MRCPs的手部自然动作的运动参数模式的识别。对于3种动作的运动参数,实验结果表明,二分类的总平均结果可以达到89.24%,四分类结果可以达到75.28%。本文采用的黎曼框架新颖高效,为脑-机接口的MRCP分类提供了新思路,同时本研究对于精细而自然地控制神经假体或者其他康复设备具有重要意义,这将大大提高运动障碍用户的认可度。 相似文献
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介绍了一种以SPCE061A单片机为核心、新型的无刷直流电机控制系统的设计。该系统在对操作者发出的语音命令作出正确识别后,可以控制无刷直流电机完成相应的动作。给出了硬件构成,并分析了语音识别的基本原理,阐述了软件的设计过程。通过实验证明,该系统达到了令人满意的控制效果。 相似文献
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为了满足手部运动功能康复器的主动康复训练对多种人手动作模式识别的需求,分析了表面肌电信号采样通道设置布局、训练样本制作、特征提取方式、模式分类器结构参数等因素对手部动作识别的影响,设计了针对前臂的表面肌电信号采集方案,分别基于时域统计量、自回归模型系数、小波包分解系数特征设计了BP神经网络分类器。实验结果表明:对6种单指动作、13种多指动作、20种手部动作的最佳平均识别率分别为98.5%、92.4%、90.9%,计算时间小于190 ms,验证了所提出方法的有效性和实用性。 相似文献
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人机交互过程中获得人的动作是一个关键,为了实现手部姿态的实时跟踪控制,分析了手形及手部的运动形式和特点,研究设计了一种基于嵌入式系统的手部姿态跟踪控制系统。该系统采用ARM9架构和Linux实时操作系统作为开发平台,设计开发了系统的应用程序,通过动态手势识别算法,实现了连续手姿态的识别。所研究实现的手部姿态跟踪控制系统能够较好地实现手姿态的跟踪,具有较高的实时性。 相似文献
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为了解决脑卒中、手部骨折等疾病导致的手部功能障碍问题,本研究设计了一款便携式索控手部康复训练器。通过对人手骨骼特征、自由度和运动学的分析,利用SolidWorks软件设计了索控康复训练器的结构零件,并将它们组装成完整的装配体。随后,使用Motion插件进行运动仿真实验,分析手指屈曲/伸展角度和线性位移的可靠性。最终的运动学仿真曲线结果证实了该手部康复训练器能够平稳地完成预定的轨迹动作,验证了机械结构设计的合理性和方案的可行性。综上所述,索控式手部康复训练器具有轻便、经济、安静和结构简单的优点,可以有效辅助患者进行各种康复运动。 相似文献
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脑电信号的混沌分析和小波包变换特征提取算法 总被引:3,自引:1,他引:2
针对脑电(EEG)信号的手部动作模式信息处理,提出一种混沌分析和小波包变换相结合的特征提取方法.用眼动辅助来采集手部动作时的脑电信号,对采集的C3、C4 、P3和P4脑电信号消噪后分别用混沌分析和小波包变换的方法进行特征提取,前者提取混沌特征的最大Lyapunov指数和关联维数,组成8维向量;后者提取脑电信号的4种特征节律波,分别计算其相对能量,组成16维向量;最后把两种方法提取的向量组成24维特征向量,输入SVM分类器,实现基于EEG信号的手部动作模式的识别.对不同个体上翻、下翻、展拳、握拳4种手部动作的识别实验表明,平均识别率均在80%以上,明显优于其他方法识别的结果. 相似文献
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表面肌电信号(surface electromyogram,sEMG)的采集是仿人假手智能控制研究的重要环节,而便携式表面肌电信号采集装置可使受试者摆脱固定空间和线缆的束缚.研制了一套多通道sEMG无线采集系统.该系统主要由神经电势芯片、DAC、PIC16F628A和XBee802.15.4芯片等组成,其无线采集接收端采用串口与计算机相连.开展sEMG无线采集系统离体测试实验,证明该无线采集系统的可行性和性能,在此基础上设计并开展了基于该多通道sEMG无线采集系统的3名志愿者手部运动sEMG的实时无线六通道采集.实验结果表明,该多通道sEMG无线采集系统可在1 m内实现最高57.6 Kb/s波特率的数据采集,其误码率为8.93 × 10-4,可忽略不计.搭建的多通道sEMG无线采集系统能够实现正常人体在简单手臂动作时的sEMG信号的无线实时多通道采集,为进一步设计在复杂人手运动时sEMG无线采集系统提供了一个有效的硬件平台. 相似文献
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本文介绍自行研制的一种新型取送料机械手传动装置。该机械手手部夹紧机构巧妙地应用了杠杆+挠性传动组合工作原理,采用一活塞汽缸的动作,可实现手部夹紧和手臂摆动两个动作。 相似文献
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针对国内现有动态标定装置精度不高、重复性较差的问题,提出了一种基于正弦力加载的新型力传感器动态标定方法;对该标定方法做了详细介绍,阐述了该标定系统中最关键的正弦机构的工作原理;利用基于最小二乘的曲线拟合法对力传感器和位移传感器输出正弦电压的幅值进行了求解,并以此为基础,依据相应公式在LabVIEW中设计了数据处理程序,实现了对力传感器动态灵敏度的精确求解;搭建了实验平台,对Interface 1010AJ型力传感器进行了1 Hz~5 Hz的动态标定,并分析了实验结果。研究结果表明,该新型的力传感器动态标定系统具有良好的精度,其误差在1.5%内。 相似文献
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Guo LY Zhao KD Su FC An KN 《Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine》2003,217(5):405-413
Wheelchair propulsion is a man machine interaction in which chair design and fit affect the relative positions and orientations of the upper extremity relative to the handrim and wheel axle. To understand these relationships better, experimental data were collected in five hand positions from five subjects exerting maximal effort to propel an instrumented wheelchair with its wheel in a locked position. The results of experiments revealed that the progression moment was greater at both initial and terminal propulsion positions and smaller in the mid-propulsion position. The vertical and horizontal force components were directed radially away from the wheel axle posterior to the dead centre position and radially towards the wheel axle anterior to top dead centre. Subsequently, a subject-specific quasi-static model of the upper extremity which maximized wheel progression moment was developed to augment our understanding of experimental measures. Model-predicted trends in progression moments and hand force direction were similar to experiment. Model predictions revealed that the optimal progression moment generation could potentially be affected by an individual's anthropometric parameters, joint strengths and also the direction of force applied by the hand on the handrim. Through wheelchair fitting and training of wheelchair users, it may be possible to improve propulsion technique. 相似文献
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基于力触觉手柄的虚拟环境(VE)力反馈系统在人机交互领域得到广泛应用,稳定性是系统正常工作的前提。首先将力反馈设备、虚拟交互环境以及操作者作为独立模块单独建模,再基于阻抗再现方法建立力反馈交互系统闭环控制模型,并利用赫尔维兹判据推导了系统稳定的条件,利用频率响应函数分析了刚度和阻尼、零阶保持器的信号保持时间间隔以及操作者阻抗对系统稳定性的影响,给出了虚拟刚度、虚拟阻尼以及操作者阻抗等影响因素的临界稳定条件。利用研制的力反馈触觉手柄构建了实验系统并进行了实验研究,针对不同的力反馈频率和不同的阻抗分析了不同条件下的系统稳定性。实验结果证明了理论分析的正确性。 相似文献
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Turner HC Yate RM Giddins GE Miles AW 《Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine》2004,218(6):461-465
The aim of this study was to develop a basic measurement system to estimate the vertical loading of the upper limb during the sit-to-stand activity, with a view to increasing the understanding of the loading of the wrist in daily living activities. A chair was adapted and instrumented with strain gauges and position sensors so that the force applied through the upper limbs to the arms of the chair could be calculated. Four aspects of the chair's geometry could be varied. A force plate was positioned on the floor between the legs of the chair to record the corresponding foot loading. Twenty normal subjects (22-56 years, mean 32.7 years) participated in a pilot study in which loading through the upper and lower limbs was recorded for a range of chair geometries. The vertical force transmitted through each upper limb was typically 20-30 per cent of bodyweight. The vertical upper limb load averaged across all subjects showed a small reduction when either the seat height or the height of the chair arms was increased. 相似文献
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Laboratory-level telesurgery with industrial robots and haptic devices communicating via the internet 总被引:1,自引:0,他引:1
Yoon Hyuk Kim Le Dinh Phong Won Man Park Kyungsoo Kim Koon Ho Rha 《International Journal of Precision Engineering and Manufacturing》2009,10(2):25-29
With recent advances in data communications and robotic engineering, surgical robots have evolved into telerobotic surgical
platforms that permit surgeons to operate on patients from remote locations using robotic instruments. Even so, telesurgical
systems need to be improved by considering haptic sense or force feedback. In this study, a laboratory-level telesurgical
system with force feedback was developed using industrial robots and commercial haptic systems operating over the Internet.
Telesurgery via high-bandwidth UDP/IP communication was successfully conducted on objects mimicking human organs by the surgical
robot system commanded by a surgeon 40 km away. During the test experiment, the surgeon could feel the interaction between
the instruments and the tissues. The time delay was less than 45 ms with very little discrepancy between the command of the
haptic device and the movement of the robot. This technology is useful for developing a clinically applicable telesurgical
robot system that could be used in various emergency situations. 相似文献