多自由度仿生假手嵌入式控制系统及其抓取策略

为一种能够实现5 指独立动作以及具备人机交互能力的多自由度仿生假手设计了手部嵌入式控制系 统．该系统由传感器系统和运动控制系统构成，集成于假手机体内部，通过通信总线与上层控制器交换信息．传感 器系统包括3 种类型，共12 个传感器，可为假手自主抓取以及人机交互中的感觉反馈提供数据，运动控制系统用于 控制、驱动各手指动作．此外，本文以基于位置的阻抗控制为底层，以动作预构形为上层设计了分层控制策略．实 验表明，该嵌入式控制系统和分层控制策略使假手实现了自主抓取功能，提高了抓取的柔顺性、稳定性和适应性．

Embedded Control System for Multi-DOF Anthropomorphic Prosthetic Hand and Its Grasping Strategy

An embedded control system is designed for a kind of multi-DOF anthropomorphic prosthetic hands with five individually driven fingers and the capability of man-machine interaction. The proposed system is composed of sensory system and motion control system. They are all integrated in the body of prosthetic hand. To exchange information, the communication bus is used between the hand and the upper controller. Three kinds, a sum of 12 sensors are equipped both for automatic grasp control and for sensory feedback during man-machine interaction. The function of driving and controlling the motion of the fingers is supported by the motion control system. Furthermore, a kind of hierarchical control strategy is presented. The position based impedance control works as the low level and the feature pre-shape works as the high level. The experimental results show that, by the support of the embedded control system and the hierarchical control strategy, the prosthetic hand realizes automatic grasp, and its grasping compliance, stability and suitability are improved.