基于MATLAB和ADAMS的肌电假手联合仿真

doi:10.16182/j.issn1004731x.joss.201705004

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (5): 957-964.doi: 10.16182/j.issn1004731x.joss.201705004

基于MATLAB和ADAMS的肌电假手联合仿真

尤波¹, 陶守通¹, 黄玲¹, 李勃君¹, 赵汗青²

1.哈尔滨理工大学自动化学院,黑龙江哈尔滨 150080;
2.哈尔滨理工大学测通学院,黑龙江哈尔滨 150080

收稿日期:2015-06-29 修回日期:2015-09-18 出版日期:2017-05-08 发布日期:2020-06-03
作者简介:尤波(1962-),男,黑龙江尚志,博士,教授,博导,研究方向为机器人控制;陶守通(1986-), 男,河南虞城,硕士生,研究方向为肌电假手建模和仿真。
基金资助:
国家“863”重大项目(2009AA043803)

Coordinated Simulation of EMG Prosthetic Hand Based on MATLAB and ADAMS

You Bo¹, Tao Shoutong¹, Huang Ling¹, Li Bojun¹, Zhao Hanqing²

1. College of Automation, Harbin University of Science and Technology, Harbin 150080, China;
2. College of Measure-Control Technology and Communication Engineering, Harbin University of Science and Technology, Harbin 150080, China

Received:2015-06-29 Revised:2015-09-18 Online:2017-05-08 Published:2020-06-03

摘要/Abstract

摘要： 为了减少假手研制过程中投入的大量成本和费用,充分利用虚拟技术,搭建假手的仿真系统。采用Pro/E虚拟建模软件,搭建具有多自由度的假手样机模型;将其导入到ADAMS中,对假手进行运动学仿真,验证其合理性。通过ADAMS与MATLAB的接口模块ADAMS/Control,利用MATLAB/Simulink模块搭建假手模型的控制系统,将对应的手部动作模式信息转化为假手关节期望角度;将肌电信号采集系统采集的信号,采用基于绝对值均值的阈值决策法进行处理,提取肌电信号的时域特征,送入MATLAB,进行联合仿真。研究结果表明,基于MATLAB和ADAMS的肌电假手的仿真系统实现了对肌电假手的驱动,验证了肌电假手控制方案的可行性。

关键词: 假手, 表面肌电信号, 联合仿真, MATLAB, ADAMS

Abstract: In order to reduce the costs and expense during prosthetic hand research process, a simulation system of prosthetic hand was built by using the virtual technology. Building the multi-DOF prototype model of prosthetic hand with virtual modeling software Pro/E, the model was imported into software ADAMS to verifying the feasibility of prosthetic hand kinematic simulation. Through the interface modular part (ADAMS /control) of MATLAB and ADAMS, using Simulink module of MATLAB software built the prosthetic hand model control system of EMG (electromyography), changing the model information of the corresponding hand movements into actual expected angel of prosthetic hand joints. The signal, which was collected by the EMG signal acquisition system, was handled based on the threshold decision of the mean absolute value, then extracted time domain feature of EMG signal and sent it into MATLAB, beginning coordinated simulation. The research results show that the drive of EMG prosthetic hand is successfully implemented by simulation system of EMG prosthetic hand based on MATLAB and ADAMS. The feasibility of EMG prosthetic controlling scheme hand has been verified by using the real-time coordinated simulation.

Key words: prosthetic hand, sEMG, coordinated simulation, MATLAB, ADAMS

中图分类号:

TP391.9

尤波, 陶守通, 黄玲, 李勃君, 赵汗青. 基于MATLAB和ADAMS的肌电假手联合仿真[J]. 系统仿真学报, 2017, 29(5): 957-964.

You Bo, Tao Shoutong, Huang Ling, Li Bojun, Zhao Hanqing. Coordinated Simulation of EMG Prosthetic Hand Based on MATLAB and ADAMS[J]. Journal of System Simulation, 2017, 29(5): 957-964.

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基于MATLAB和ADAMS的肌电假手联合仿真

Coordinated Simulation of EMG Prosthetic Hand Based on MATLAB and ADAMS

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