沈阳工业大学学报2012，Vol.34Issue(1)：63-67,5.
基于EMG的假手实时力跟踪控制
Tracking control of real-time force for prosthetic hand based on EMG
摘要
Abstract
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.关键词
假手/肌电/支持向量回归/微分跟踪器/模糊PID/指尖力/网格搜索法/时域特征Key words
prosthetic hand/electromyography(EMG)/support vector regression(SVR)/differential tracker/fuzzy PID/fingertip force/grid search method/time-domain feature分类
信息技术与安全科学引用本文复制引用
王新庆,刘伊威,杨大鹏,樊绍巍,刘宏..基于EMG的假手实时力跟踪控制[J].沈阳工业大学学报,2012,34(1):63-67,5.基金项目
国家高技术研究发展计划“863计划”资助项目（2009AA043803 （）
2008AA12A214） （）
