基于DSP的仿人形假手控制系统研究

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为解决假肢手控制系统复杂等问题，将欠驱动技术应用到假肢手的机械结构设计中，整个假手由3个电机驱动，手指结构选用绳索滑轮驱动方式。开展了对机械系统原理和结构的分析，提出了基于DSP的结构简单、开发周期短、具有力反馈的运动控制系统，该控制系统用于驱动各手指动作。介绍了控制系统的硬件实现方法和软件控制流程，硬件主要包括电平转换和传感器信号处理电路，共有两种类型、11个传感器，可为假手自主抓取中的感觉反馈提供数据；软件主要涉及事件管理器、模数转换模块的应用。最后对假手中的压力传感器进行了标定，并进行了假手抓取试验。研究结果表明，基于力传感器反馈的控制策略使得假手能够实现稳定包络抓取。

Aiming at solving problems of the control system＇s complexity of prosthetic hands, the under-actuated technology was investigated in the mechanical design of the hand. The total hand was actuated by 3 motors, tendons and pulleys were chosen for the finger mechanisms. According to analysis of the principle and architecture of the mechanical system, methods of easy configuration, short time of development, and force feedback were established based on DSP. The function of driving the motion of the fingers was supported by the control system. The design of hardware and software of this system was given and the voltage changing and sensor processing circuit were mainly included in the hardware design. Two kinds, a sum of 11 sensors were equipped for automatic grasp control and sensory feedback. Event managers and analog-to-digital converters were applied in the software design. Force sensing resistor of the prosthetic hand was calibrated and the grasping ability was tested. The results indicate that control strategy based on the force feedback makes prosthetic hand fulfill stable envelope grasp.

假手，控制系统，欠驱动技术，压力传感器，DSP，prosthetic hand，control system，under-actuated technology，force sensing resistor，DSP。

基于DSP的仿人形假手控制系统研究。