控制理论与应用2025，Vol.42Issue(10)：1885-1893,9.DOI:10.7641/CTA.2024.30752
仿生假手机构设计与控制方法研究进展
Review for structure design and control method of bionic prosthesis hand
摘要
Abstract
The research status and development trend are investigated for the bionic prosthesis hand mechanism design,intention recognition and human-robot interaction control algorithm.In the first place,the development status for the mechanical structure of bionic prosthesis hand is introduced,which is based on the installation position of drive systems.Besides,on account of different non-ideal conditions such as electrode deviation,muscle fatigue and individual difference,the methods for motion intention recognition model which based on multi-source signals,the shortcomings and excellences of the existing approaches are discussed.Furthermore,the advantages and disadvantages for the control algorithms are verified through discussing the human-robot interaction controller of bionic prosthesis hand.Eventually,we propose the difficult problems and future outlooks for bionic prosthesis hand.Moreover,the expectation ideas are given for the bionic prosthesis hand mechanical structure,hand active movement intention,and human-machine interaction controller which are combined with multi-source signal fusion and sensing.关键词
仿生假手/假手结构设计/非理想因素/运动意图识别/控制策略Key words
bionic prosthesis hand/prosthesis hand structure design/non-ideal conditions/motion intention recognition/control strategy引用本文复制引用
赵立铭,孙中波..仿生假手机构设计与控制方法研究进展[J].控制理论与应用,2025,42(10):1885-1893,9.基金项目
国家自然科学基金项目(62373065,62173048,62106023,61873304),吉林省科技发展计划项目(20230204081YY),长春市科技计划项目(21ZY41)资助.Supported by the National Natural Science Foundation of China(62373065,62173048,62106023,61873304),the Scientific and Technological Plan-ning Poject of Jilin Province(20230204081YY)and the Changchun Science and Technology Plan Project(21ZY41). （62373065,62173048,62106023,61873304）
