基于EMG的假手实时力跟踪控制

针对商业假手灵活性及智能化水平较低的问题，进行了具有力矩/位置感知的五指假手及其控制方法的研究.以人体前臂肌电信号（EMG）为控制源，以力传感器检测指尖法向力，通过SVR支持向量机（Support Vector Regression，SVR）构建了指尖力的预测模型；采用网格搜索法确定模型的参数，缩短了训练时间，提高了模型的泛化能力.通过在线预测，结合带有二阶微分跟踪器的模糊PID控制方法实现了指尖施力实时跟踪；速度快，超调小，鲁棒性强，提高了假手的控制水平.

Tracking control of real-time force for prosthetic hand based on EMG

Aiming at such problems as low level of flexibility and intellectualization existing in commercial prosthetic hand,the study on a five-fingered prosthetic hand with moment/position perception and its control method was performed.The electromyography(EMG) signal of body forearm was taken as a control source,and the fingertip normal force was tested with a force sensor.A prediction model for fingertip force was established with a support vector regression(SVR) machine.The parameters of the proposed model were determined with a grid search method.And thus,the training time is shortened,and the generalization ability of the model gets enhanced.The real-time tracking of fingertip force was realized through combining the online prediction and fuzzy PID control method with a second-order differential tracker.The proposed control method has quick response speed,small ultra regulation and strong robustness,and thus,the control level for prosthetic hand gets improved.