Hyunho Kim, Sujin Jang, Phuoc Thien Do, Chang Kee Lee, B. Ahn, Suncheol Kwon, Handdeut Chang, Yeongjin Kim
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An empirical model derived from conventional mathematical modeling of force and axis length changes was proposed and compared with experimental data, and the error was measured to be between about 3% and 13%. In order to control the actuator using an electromyography (EMG) signal, an electrode was attached to the user’s finger flexors. The EMG signal was measured in relation to the actual gripping force and was provided with visual feedback, and the magnitude of the signal was evaluated using root mean square (RMS). Depending on the evaluated EMG signal magnitude, the pressure of the actuator was continuously adjusted. The pneumatic pressure was adjusted between 100 kPa and 250 kPa, and the gripping force of the finger prosthesis ranged from about 0.7 N to 6.5 N. The stiffness of the prosthesis can be varied using the SMA spring. 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引用次数: 0
摘要
随着截肢患者人数的增加,人们正在积极开展假肢等辅助设备的研究。然而,针对部分截肢患者的辅助设备开发还不够充分。在这项研究中,我们为部分截肢患者开发了一种手指假肢。本文简要介绍了假肢的设计和数学建模。我们采用了基于麦基本肌肉设计的气动致动器来驱动假指。我们描述了压力变化时致动器的力和轴向长度变化之间的关系。通过对力和轴长变化的传统数学建模,我们提出了一个经验模型,并将其与实验数据进行了比较,测得误差约在 3% 到 13% 之间。为了利用肌电图(EMG)信号控制致动器,在使用者的手指屈肌上连接了一个电极。肌电信号的测量与实际抓取力有关,并提供视觉反馈,信号的大小使用均方根(RMS)进行评估。根据所评估的肌电信号大小,不断调整致动器的压力。气压在 100 kPa 和 250 kPa 之间调节,假指的抓取力在 0.7 N 到 6.5 N 之间。通过 PID 控制,SMA 弹簧在 50 °C 时切换到全奥氏体状态,当假指弯曲到 90° 角时,可提供约 1.2 N 的辅助力。最后,通过八个动作的捏握测试对假指进行了功能评估。
Development of Wearable Finger Prosthesis with Pneumatic Actuator for Patients with Partial Amputations
As the number of patients with amputations increases, research on assistive devices such as prosthetic limbs is actively being conducted. However, the development of assistive devices for patients with partial amputations is insufficient. In this study, we developed a finger prosthesis for patients with partial amputations. The design and mathematical modeling of the prosthesis are briefly presented. A pneumatic actuator, based on the McKibben muscle design, was employed to drive the finger prosthesis. We characterized the relationship between the actuator’s force and axial length changes with varying pressure. An empirical model derived from conventional mathematical modeling of force and axis length changes was proposed and compared with experimental data, and the error was measured to be between about 3% and 13%. In order to control the actuator using an electromyography (EMG) signal, an electrode was attached to the user’s finger flexors. The EMG signal was measured in relation to the actual gripping force and was provided with visual feedback, and the magnitude of the signal was evaluated using root mean square (RMS). Depending on the evaluated EMG signal magnitude, the pressure of the actuator was continuously adjusted. The pneumatic pressure was adjusted between 100 kPa and 250 kPa, and the gripping force of the finger prosthesis ranged from about 0.7 N to 6.5 N. The stiffness of the prosthesis can be varied using the SMA spring. The SMA spring is switched to a fully austenite state at 50 °C through PID control, and when the finger prosthesis is bent to a 90° angle, it can provide approximately 1.2 N of assistance force. Finally, the functional evaluation of the finger prosthesis was performed through a pinch grip test of eight movements.
期刊介绍:
Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.