虚拟现实灵巧手姿态力度控制算法与仿真

针对灵巧手虚拟现实的控制,提出了数据手套控制手指关节角度,肌电信号进行抓取力度控制的方法.建立了虚拟现实灵巧手模型,根据神经网络算法实现前臂肌电信号对抓取过程中的拇指尖力预测.实验改变拇指接触状态,预测力模型与实际力度对比,验证模型的有效性.该研究可用于智能假肢控制及上肢康复训练、遥操作机器人等领域.

Control Algorithm of Posture and Force Simulationfor Dexterous Hand in Virtual Reality

For virtual dexterous hand control, proposed a method which uses the data glove control finger joint angle, and control grab force of the experimental method based on EMG. Build a virtual model of dexterous hand,simulation of the grab process,achieve limb muscles current signal prediction crawl on the thumb fingertip force based on BP al-gorithm based on neural network. Repeatedly changing contact state accuracy crawl thumb, thumb fingertip size of the force will be measured and predicted strength value verified by comparing predicted by. Compare the predictive force of the model with the actual force, verify the validity of the model. Experimental results demonstrate the effectiveness of the method, which can be used in the field of intelligent control and prosthetic rehabilitation of stroke patients, remote operations,etc.