| Development of an underactuated prosthetic hand with the step motor |
| |
| 作者姓名： | 赵大威 Jin Minghe Jiang Li Shi Shicai Liu Hong |
| |
| 作者单位： | Robotics Institute, Harbin Institute of Technology, Harbin 150001, P.R. China |
| |
| 基金项目： | 国家自然科学基金
,
国家高技术研究发展计划(863计划) |
| |
| 摘 要： | 0IntroductionThe design condition of electromyography(EMG)prosthetic handis different fromthe industrial robot handmainlyinits decorative nature,weightlimit andfunction.Generally commercial prosthetic hands are basically sim-ple grippers having one or two DOF(degree of freedom),which cannot meet the needs of the users1].In thisstudy,we developed a multi-fingered anthropomorphicrobot handfor the EMGprosthetic handto realize activityof dailyliving2].Based on underactuated mechanism3],andt…
|
| 关 键 词： | 欠驱动机构 假手 步进电机 扭矩控制 |
| 收稿时间： | 2005-07-21 |
Development of an underactuated prosthetic hand with the step motor |
| |
| Zhao Dawei,Jin Minghe,Jiang Li,Shi Shicai,Liu Hong.Development of an underactuated prosthetic hand with the step motor[J].High Technology Letters,2006,12(4):341-345. |
| |
| Authors: | Zhao Dawei Jin Minghe Jiang Li Shi Shicai Liu Hong |
| |
| Abstract: | We present the development of a novel prosthetic hand based on the underactuated mechanism. The aim is focused on increasing its dexterity while keeping the same dimension and weight of a traditional prosthetic device. The hybrid step motor is used as the actuator, which enables the finger to keep enough high contact torque on the grasped object with less energy consumption provided by the holding torque. The grasping force of the finger is estimated from the base joint torque, and the adoption of impedance control has provided compliance in the grasping. Also a parallel observer is used to switch over between the impedance control and the torque holding mode. The experimental results show the effectiveness of the design and control strategy. |
| |
| Keywords: | prosthetic hand underactuated torque control step motor |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
